Mitsubishi_Manuals_259

MELDAS is a registered trademark of Mitsubishi Electric Corporation.
Other company and product names that appear in this manual are trademarks or registered
trademarks of their respective companies.

Introduction
Thank you for selecting the Mitsubishi numerical control unit.
This instruction manual describes the handling and caution points for using this AC
servo/spindle.
Incorrect handling may lead to unforeseen accidents, so always read this instruction
manual thoroughly to ensure correct usage.
Make sure that this instruction manual is delivered to the end user.
Always store this manual in a safe place.
All specifications for the MDS-CH Series are described in this manual. However, each
CNC may not be provided with all specifications, so refer to the specifications for the
CNC on hand before starting use.
Notes on Reading This Manual
(1) Since the description of this specification manual deals with NC in general, for the
specifications of individual machine tools, refer to the manuals issued by the
respective machine manufacturers. The "restrictions" and "available functions"
described in the manuals issued by the machine manufacturers have precedence
to those in this manual.
(2) This manual describes as many special operations as possible, but it should be
kept in mind that items not mentioned in this manual cannot be performed.

Precautions for safety
Please read this manual and auxiliary documents before starting installation, operation,
maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety
information and precautions before starting operation.
The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION".
DANGER
When there is a potential risk of fatal or serious injuries if
handling is mistaken.
WARNING
When a dangerous situation, or fatal or serious injuries may
occur if handling is mistaken.
CAUTION
When a dangerous situation may occur if handling is mistaken
leading to medium or minor injuries, or physical damage.
Note that some items described as CAUTION may lead to major results depending on
the situation. In any case, important information that must be observed is described.
The numeric control unit is configured of the control unit, operation board, servo drive unit,
spindle drive unit, power supply, servomotor and spindle motor, etc.
In this manual, the following items are generically called the "motor".
• Servomotor
• Linear servomotor
• Spindle motor
In this manual, the following items are generically called the "unit".
• Servo drive unit
• Spindle drive unit
• Power supply unit
• Scale I/F unit
• Magnetic pole detection unit

DANGER
There are no "DANGER" items in this manual.
1. Electric shock prevention
WARNING
Do not open the front cover while the power is ON or during operation. Failure to observe this
could lead to electric shocks.
Do not operate the unit with the front cover removed. The high voltage terminals and charged
sections will be exposed, and can cause electric shocks.
Do not remove the front cover even when the power is OFF unless carrying out wiring work or
periodic inspections. The inside of the units is charged, and can cause electric shocks.
Wait at least 15 minutes after turning the power OFF before starting wiring or inspections.
Failure to observe this could lead to electric shocks.
Ground the unit and motor with Class C (former class 3) grounding or higher.
Wiring and inspection work must be done by a qualified technician.
Wire the servo drive unit and servomotor after installation. Failure to observe this could lead to
electric shocks.
Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks.
Do not damage, apply forcible stress, place heavy items on the cables or get them caught.
Failure to observe this could lead to electric shocks.
2. Injury prevention
The linear servomotor uses a powerful magnet on the secondary side, and could adversely
affect pacemakers, etc.
During installation and operation of the machine, do not place portable items that could
malfunction or fail due to the influence of the linear servomotor's magnetic force.
Take special care not to pinch fingers, etc., when installing (and unpacking) the linear
servomotor.
1. Fire prevention
CAUTION
Install the units, motors and regenerative resistor on noncombustible material. Direct installation
on combustible material or near combustible materials could lead to fires.
Shut off the power on the power supply unit side if a fault occurs in the units. Fires could be
caused if a large current continues to flow.
Provide a sequence that shut off the power at the regenerative resistor error signal-ON when
using the regenerative resistor. The regenerative resistor could abnormally overheat and cause
a fire due to a fault in the regenerative transistor, etc.
The battery unit could heat up, ignite or rupture if submerged in water, or if the poles are
incorrectly wired.

2. Injury prevention
CAUTION
Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure
to observe this item could lead to ruptures or damage, etc.
Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or
damage, etc.
Do not mistake the polarity ( + , – ). Failure to observe this item could lead to ruptures or
damage, etc.
Do not touch the radiation fin on unit back face, regenerative resistor or motor, etc., or place
parts (cables, etc.) while the power is turned ON or immediately after turning the power OFF.
These parts may reach high temperatures, and can cause burns.
Structure the cooling fan on the unit back face so that it cannot be touched after installation.
Touching the cooling fan during operation could lead to injuries.
3. Various precautions
Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and
electric shocks, etc.
(1) Transportation and installation
Correctly transport the product according to its weight.
Use the motor's hanging bolts only when transporting the motor. Do not transport the motor
when it is installed on the machine.
Do not stack the products above the tolerable number.
Do not hold the cables, axis or detector when transporting the motor.
Do not hold the connected wires or cables when transporting the units.
Do not hold the front cover when transporting the unit. The unit could drop.
Follow this Instruction Manual and install the unit or motor in a place where the weight can be
borne.
Do not get on top of or place heavy objects on the unit.
Always observe the installation directions of the units or motors.
Secure the specified distance between the units and control panel, or between the servo drive
unit and other devices.
Do not install or run a unit or motor that is damaged or missing parts.
Do not block the intake or exhaust ports of the motor provided with a cooling fan.
Do not let foreign objects enter the units or motors. In particular, if conductive objects such as
screws or metal chips, etc., or combustible materials such as oil enter, rupture or breakage
could occur.
The units and motors are precision devices, so do not drop them or apply strong impacts to
them.

CAUTION
Store and use the units under the following environment conditions.
Environment
Unit
Conditions
Motor
Ambient
temperature
Ambient
humidity
Atmosphere
Altitude
Vibration
During operation
During storage/
transportation
During operation
During storage/
transportation
0°C to 55°C
(with no freezing)
–15°C to 70°C
(with no freezing)
90%RH or less
(with no dew condensation)
90%RH or less
(with no dew condensation)
0°C to 40°C
(with no freezing)
Note 1)
–20°C to 65°C
(with no freezing)
20% to 90%RH
(with no dew condensation)
90% RH or less
(with no dew condensation)
Indoors (where unit is not subject to direct sunlight),
with no corrosive gas, combustible gas, oil mist,
dust or conductive particles
Operation/storage: 1,000m or less above sea level
Transportation: 10,000m or less above sea level
(This specified value may be exceeded
only during air-transport)
To follow each unit and motor specifications
Note 1) -15°C to 55°C for linear servomotor.
Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor
slipping off during operation.
Always install the servomotor with reduction gear in the designated direction. Failure to do
so could lead to oil leaks.
Structure the rotary sections of the motor so that it can never be touched during operation.
Install a cover, etc., on the shaft.
When installing a coupling to a servomotor shaft end, do not apply an impact by
hammering, etc. The detector could be damaged.
Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft
could break.
Store the motor in the package box.
When inserting the shaft into the built-in IPM motor, do not heat the rotor higher than
130°C. The magnet could be demagnetized, and the specifications characteristics will not
be ensured.
Always use a nonmagnetic tool (explosion-proof beryllium copper alloy safety tool: NGK
Insulators) when installing the linear servomotor.
Always provide a mechanical stopper on the end of the linear servomotor's travel path.
If the unit has been stored for a long time, always check the operation before starting
actual operation. Please contact the Service Center or Service Station.

(2) Wiring
CAUTION
Correctly and securely perform the wiring. Failure to do so could lead to runaway of the motor.
Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of
the drive unit.
Correctly connect the output side of the drive unit (terminals U, V, W). Failure to do so could
lead to abnormal operation of the motor.
Always install an AC reactor for each power supply unit.
Always install an appropriate breaker for each power supply unit. Breakers cannot be shared
by several units.
Direct application of a commercial power supply to the motor could cause burning. Always
connect the motor to the drive unit's output terminals (U, V, W).
When using an inductive load such as a relay, always connect a diode as a noise measure
parallel to the load.
When using a capacitance load such as a lamp, always connect a protective resistor as a noise
measure serial to the load.
Do not reverse the direction of a diode which
connect to a DC relay for the control output
signals to suppress a surge. Connecting it
backwards could cause the drive unit to
malfunction so that signals are not output, and
emergency stop and other safety circuits are
inoperable.
Drive unit
COM
(24VDC)
Control output
signal
Diode reverse orientation
RA
Do not connect/disconnect the cables connected between the units while the power is ON.
Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could
cause the cable to fall off while the power is ON.
When using a shielded cable instructed in the connection manual, always ground the cable with
a cable clamp, etc.
Always separate the signals wires from the drive wire and power line.
Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to
the system.

CAUTION
(3) Trial operation and adjustment
Check and adjust each program and parameter before starting operation. Failure to do so could
lead to unforeseen operation of the machine.
Do not make remarkable adjustments and changes as the operation could become unstable.
The usable motor and unit combination is predetermined. Always check the models before
starting trial operation.
If the axis is unbalanced due to gravity, etc., balance the axis using a counterbalance, etc.
The linear servomotor does not have a stopping device such as magnetic brakes. Install a
stopping device on the machine side.
(4) Usage methods
Install an external emergency stop circuit so that the operation can be stopped and power
shut off immediately.
Turn the power OFF immediately if smoke, abnormal noise or odors are generated from the unit
or motor.
Unqualified persons must not disassemble or repair the unit.
Never make modifications.
Reduce magnetic damage by installing a noise filter. The electronic devices used near the unit
could be affected by magnetic noise.
Use the unit, motor and regenerative resistor with the designated combination. Failure to do so
could lead to fires or trouble.
The brake (magnetic brake) assembled into the servomotor are for holding, and must not be
used for normal braking. Do not apply the brakes in the servo ON state. Doing so will lead to a
drop in the brake life. Always turn the servo OFF before applying the brakes.
There may be cases when holding is not possible due to the magnetic brake's life or the
machine construction (when ball screw and servomotor are coupled via a timing belt, etc.).
Install a stop device to ensure safety on the machine side.
After changing the programs/parameters or after maintenance and inspection, always test the
operation before starting actual operation.
Do not enter the movable range of the machine during automatic operation. Never place body
parts near or touch the spindle during rotation.
Follow the power supply specification conditions given in the separate specifications manual for
the power (input voltage, input frequency, tolerable sudden power failure time, etc.).

CAUTION
(5) Troubleshooting
If a hazardous situation is predicted during power failure or product trouble, use a servomotor
with magnetic brakes or install an external brake mechanism.
Use a double circuit configuration
that allows the operation circuit for
the magnetic brakes to be operated
even by the external emergency
stop signal.
Shut off with the servomotor
brake control output.
Servomotor
Magnetic
brake
MBR
Shut off with NC brake
control PLC output.
EMG
24VDC
Always turn the input power OFF when an alarm occurs.
Never go near the machine after restoring the power after a power failure, as the machine
could start suddenly. (Design the machine so that personal safety can be ensured even if the
machine starts suddenly.)
(6) Maintenance, inspection and part replacement
Always backup the programs and parameters in the CNC device before starting maintenance
or inspections.
The capacity of the electrolytic capacitor will drop over time due to self-discharging, etc. To
prevent secondary disasters due to failures, replacing this part every five years when used
under a normal environment is recommended. Contact the Service Center or Service Station
for replacement.
Do not perform a megger test (insulation resistance measurement) during inspections.
If the battery low warning is issued, back up the machining programs, tool data and
parameters with an input/output unit, and then replace the battery.
Do not short circuit, charge, overheat, incinerate or disassemble the battery.
The heat radiating fin used in the 37kW and smaller unit contains substitute Freon as the
refrigerant.
Take care not to damage the heat radiating fin during maintenance and replacement work.
(7) Disposal
Do not dispose of this unit as general industrial waste. The
37kW and smaller unit with heat radiating fin protruding from
the back of the unit contains substitute Freon. Do not dispose
of this type of unit as general industrial waste. Always return
to the Service Center or Service Station.
Heat
radiating
fin
Do not disassemble the unit or motor.
Dispose of the battery according to local laws.
Always return the secondary side (magnet side) of the linear servomotor to the Service
Center or Service Station.

CAUTION
(8) Transportation
The unit and motor are precision parts and must be handled carefully.
According to a United Nations Advisory, the battery unit and battery must be transported
according to the rules set forth by the International Civil Aviation Organization (ICAO),
International Air Transportation Association (IATA), International Maritime Organization
(IMO), and United States Department of Transportation (DOT), etc.
(9) General precautions
The drawings given in this Specifications and Maintenance Instruction Manual show the covers and
safety partitions, etc., removed to provide a clearer explanation. Always return the covers or partitions to
their respective places before starting operation, and always follow the instructions given in this manual.

CONTENTS
1. Preface
1-1 Inspection at purchase.................................................................................................................. 1-2
1-1-1 Package contents ................................................................................................................. 1-2
1-1-2 Rating nameplate.................................................................................................................. 1-2
1-1-3 Power supply unit model....................................................................................................... 1-2
1-1-4 Servo drive unit model .......................................................................................................... 1-3
1-1-5 Spindle drive unit model........................................................................................................ 1-3
1-2 Explanation of each part............................................................................................................... 1-4
1-2-1 Explanation of each power supply unit part.......................................................................... 1-4
1-2-2 Explanation of each servo drive unit part.............................................................................. 1-5
1-2-3 Explanation of each spindle drive unit part........................................................................... 1-5
2. Wiring and Connection
2-1 Part system connection diagram .................................................................................................. 2-3
2-2 Main circuit terminal block/control circuit connector ..................................................................... 2-5
2-2-1 Connector pin assignment .................................................................................................... 2-5
2-2-2 Names and applications of main circuit terminal block signals and control circuit connectors 2-7
2-2-3 How to use the control circuit terminal block (MDS-CH-SP-750) ......................................... 2-8
2-3 NC and drive unit connection ....................................................................................................... 2-10
2-4 Motor and detector connection ..................................................................................................... 2-11
2-4-1 Connection of HC-H Series .................................................................................................. 2-11
2-4-2 Connection of the spindle motor ........................................................................................... 2-14
2-4-3 Connection of the linear servomotor LM-NP Series ............................................................. 2-15
2-5 Connection of power supply ......................................................................................................... 2-16
2-5-1 Standard connection ............................................................................................................. 2-16
2-5-2 DC connection bar ................................................................................................................ 2-18
2-5-3 Two-part system control of power supply unit....................................................................... 2-19
2-5-4 Using multiple power supply units ........................................................................................ 2-20
2-6 Connection of AC reactor ............................................................................................................. 2-21
2-6-1 Features of the AC reactor.................................................................................................... 2-21
2-6-2 Wiring of AC reactor.............................................................................................................. 2-21
2-7 Wiring of contactors...................................................................................................................... 2-22
2-7-1 Contactor power ON sequences........................................................................................... 2-23
2-7-2 Contactor shutoff sequences ................................................................................................ 2-23
2-7-3 Contactor control signal (MC1) output circuit........................................................................ 2-24
2-8 Wiring of the motor brake ............................................................................................................. 2-25
2-8-1 Motor brake release sequence ............................................................................................. 2-25
2-8-2 Control during the servo OFF command .............................................................................. 2-25
2-8-3 Operation sequences when an emergency stop occurs....................................................... 2-25
2-8-4 Motor brake control connector (CN20) output circuit............................................................ 2-26
2-9 Wiring of an external emergency stop .......................................................................................... 2-27
2-9-1 External emergency stop setting .......................................................................................... 2-27
2-9-2 Operation sequences of CN23 external emergency stop function ....................................... 2-28
2-9-3 Example of emergency stop circuit....................................................................................... 2-29
2-10 Connecting the Grounding Cable ............................................................................................... 2-30
2-10-1 Connecting the Frame Ground (FG)................................................................................... 2-30
2-10-2 Grounding cable size .......................................................................................................... 2-30
3. Installation
3-1 Installation of the units.................................................................................................................. 3-2
3-1-1 Environmental conditions...................................................................................................... 3-2
3-1-2 Installation direction and clearance ...................................................................................... 3-3
3-1-3 Prevention of entering of foreign matter ............................................................................... 3-3
3-1-4 Panel installation hole work drawings (Panel cut drawings)................................................. 3-4
3-1-5 Heating value ........................................................................................................................ 3-5
3-1-6 Heat radiation countermeasures........................................................................................... 3-6

3-2 Installation of servomotor/spindle motor....................................................................................... 3-7
3-2-1 Environmental conditions...................................................................................................... 3-7
3-2-2 Cautions for mounting load (prevention of impact on shaft) ................................................. 3-8
3-2-3 Installation direction .............................................................................................................. 3-8
3-2-4 Tolerable load of axis ............................................................................................................ 3-9
3-2-5 Oil and waterproofing measures........................................................................................... 3-10
3-2-6 Cable stress .......................................................................................................................... 3-12
3-3 Installing the linear servomotor..................................................................................................... 3-13
3-3-1 Installation environment........................................................................................................ 3-13
3-3-2 Installing the linear servomotor............................................................................................. 3-13
3-3-3 Cooling the linear servomotor............................................................................................... 3-15
3-4 Noise measures............................................................................................................................ 3-16
4. Setup
4-1 Initial setup.................................................................................................................................... 4-2
4-1-1 Setting the rotary switch........................................................................................................ 4-2
4-1-2 Transition of LED display after power is turned ON.............................................................. 4-3
4-2 Servo drive unit initial parameter settings..................................................................................... 4-4
4-2-1 List of servo parameters ....................................................................................................... 4-4
4-2-2 Limitations to electronic gear setting value........................................................................... 4-19
4-2-3 Setting excessive detection error width ................................................................................ 4-19
4-2-4 Setting motor and detector model......................................................................................... 4-20
4-2-5 Setting servo specifications .................................................................................................. 4-21
4-2-6 Initial setup of the linear servo system.................................................................................. 4-22
4-2-7 Standard parameter list according to motor.......................................................................... 4-31
4-3 Spindle drive unit initial parameter settings.................................................................................. 4-33
4-3-1 List of spindle parameters..................................................................................................... 4-33
4-3-2 Details of bit-corresponding parameters............................................................................... 4-50
4-3-3 Setting spindle drive unit and motor model .......................................................................... 4-54
4-3-4 Spindle specification parameters screen .............................................................................. 4-55
4-3-5 Spindle control signals .......................................................................................................... 4-58
5. Adjustment
5-1 Servo adjustment data output function (D/A output) .................................................................... 5-2
5-1-1 D/A output specifications ...................................................................................................... 5-2
5-1-2 Setting the output data.......................................................................................................... 5-2
5-1-3 Setting the output magnification ........................................................................................... 5-2
5-2 Gain adjustment............................................................................................................................ 5-3
5-2-1 Current loop gain .................................................................................................................. 5-3
5-2-2 Speed loop gain .................................................................................................................... 5-3
5-2-3 Position loop gain.................................................................................................................. 5-5
5-3 Characteristics improvement ........................................................................................................ 5-8
5-3-1 Optimal adjustment of cycle time.......................................................................................... 5-8
5-3-2 Vibration suppression measures .......................................................................................... 5-11
5-3-3 Improving the cutting surface precision ................................................................................ 5-15
5-3-4 Improvement of protrusion at quadrant changeover............................................................. 5-23
5-3-6 Improvement of characteristics during acceleration/deceleration ........................................ 5-26
5-4 Settings for emergency stop......................................................................................................... 5-29
5-4-1 Vertical axis drop prevention control..................................................................................... 5-29
5-4-2 Deceleration control.............................................................................................................. 5-31
5-4-3 Dynamic braking stop ........................................................................................................... 5-32
5-5 Collision detection function........................................................................................................... 5-33
5-6 Spindle adjustment data output function (D/A output).................................................................. 5-36
5-6-1 D/A output specifications ...................................................................................................... 5-36
5-6-2 Parameter settings................................................................................................................ 5-36
5-6-3 Output data settings.............................................................................................................. 5-36
5-6-4 Setting the output magnification ........................................................................................... 5-37

5-7 Spindle adjustment ....................................................................................................................... 5-40
5-7-1 Items to check during trial operation..................................................................................... 5-40
5-7-2 Adjusting the spindle rotation speed..................................................................................... 5-40
5-7-3 Adjusting the acceleration/deceleration................................................................................ 5-40
5-7-4 Adjusting the orientation ....................................................................................................... 5-42
5-7-5 Synchronous tap adjustment ................................................................................................ 5-49
5-7-6 Z-phase (magnetic) automatic adjustment (Only when using IPM spindle motor)............... 5-51
5-7-7 PLG automatic adjustment ................................................................................................... 5-51
5-7-8 Calculating the theoretical acceleration/deceleration ........................................................... 5-52
5-8 Spindle specifications ................................................................................................................... 5-54
5-8-1 Spindle coil changeover........................................................................................................ 5-54
6. Dedicated Options
6-1 Dynamic brake unit .................................................................................................................. 6-2
6-1-2 Outline dimension drawings of dynamic brake unit .............................................................. 6-3
6-2 Battery option................................................................................................................................ 6-4
6-2-1 Battery unit............................................................................................................................ 6-4
6-2-2 Connection............................................................................................................................ 6-8
6-2-3 Dedicated battery cable drawing .......................................................................................... 6-8
6-3 Cables and connectors................................................................................................................. 6-9
6-3-1 Cable option list .................................................................................................................... 6-10
6-3-2 Connector outline dimension drawings................................................................................. 6-14
6-3-3 Flexible conduits ................................................................................................................... 6-21
6-3-4 Cable wire and assembly...................................................................................................... 6-23
6-3-5 Option cable connection diagram ......................................................................................... 6-25
6-3-6 Main circuit cable connection drawing.................................................................................. 6-28
6-4 Scale I/F unit................................................................................................................................. 6-29
6-4-1 Outline................................................................................................................................... 6-29
6-4-2 Model configuration............................................................................................................... 6-29
6-4-3 List of specifications.............................................................................................................. 6-29
6-4-4 Unit outline dimension drawing............................................................................................. 6-30
6-4-5 Description of connector ....................................................................................................... 6-30
6-4-6 Example of detector conversion unit connection .................................................................. 6-31
6-4-7 Cables................................................................................................................................... 6-32
6-5 Magnetic pole detection unit......................................................................................................... 6-36
6-5-1 Outline................................................................................................................................... 6-36
6-5-2 Model configuration............................................................................................................... 6-36
6-5-3 List of specifications.............................................................................................................. 6-36
6-5-4 Outline dimensions ............................................................................................................... 6-36
6-5-5 Assignment of connector pins............................................................................................... 6-37
6-5-6 Installing onto the linear servomotor..................................................................................... 6-37
6-6 Detectors ...................................................................................................................................... 6-38
6-6-1 List of detector specifications................................................................................................ 6-38
6-6-2 Outline dimension drawings.................................................................................................. 6-39
6-6-3 Cable connection diagram .................................................................................................... 6-41
6-6-4 Maintenance ......................................................................................................................... 6-42
6-7 Spindle option specification parts ................................................................................................. 6-43
6-7-1 Magnetic sensor orientation (one-point orientation) ............................................................. 6-44
6-7-2 Multi-point orientation using encoder (4096-point orientation) ............................................. 6-48
6-7-3 Multi-point orientation using motor built-in encoder (4096-point orientation) ....................... 6-51
6-7-4 Contour control (C axis control) encoder.............................................................................. 6-53
6-7-5 Integrated rotary encoder (Special order part)...................................................................... 6-56
6-8 AC reactor..................................................................................................................................... 6-57
6-8-1 Combination with power supply unit ..................................................................................... 6-57
6-8-2 Outline dimension drawings.................................................................................................. 6-57

7. Peripheral Devices
7-1 Selection of wire ........................................................................................................................... 7-2
7-1-1 Example of wires by unit....................................................................................................... 7-2
7-2 Selection of main circuit breaker and contactor ........................................................................... 7-5
7-2-1 Selection of earth leakage breaker....................................................................................... 7-5
7-2-2 Selection of no-fuse breaker................................................................................................. 7-6
7-2-3 Selection of contactor ........................................................................................................... 7-7
7-3 Control circuit related.................................................................................................................... 7-8
7-3-1 Circuit protector..................................................................................................................... 7-8
7-3-2 Fuse protection ..................................................................................................................... 7-9
7-3-3 Relays ................................................................................................................................... 7-10
7-3-4 Surge absorber ..................................................................................................................... 7-11
8. Troubleshooting
8-1 Points of caution and confirmation ............................................................................................... 8-2
8-2 Troubleshooting at start up........................................................................................................... 8-3
8-3 Protective functions list of units .................................................................................................... 8-4
8-3-1 List of alarms......................................................................................................................... 8-4
8-3-2 List of warnings ..................................................................................................................... 8-16
8-3-3 Protection functions and resetting methods ......................................................................... 8-17
8-3-4 Parameter numbers during initial parameter error................................................................ 8-19
8-3-5 Troubleshooting .................................................................................................................... 8-20
8-4 Spindle system troubleshooting.................................................................................................... 8-39
8-4-1 Introduction ........................................................................................................................... 8-39
8-4-2 First step ............................................................................................................................... 8-39
8-4-3 Second step .......................................................................................................................... 8-40
8-4-4 When there is no alarm or warning....................................................................................... 8-41
9. Characteristics
9-1 Overload protection characteristics .............................................................................................. 9-2
9-1-1 Servomotor (HC-H series) .................................................................................................... 9-2
9-1-2 Linear servomotor (LM-NP Series) ....................................................................................... 9-9
9-2 Duty characteristics ...................................................................................................................... 9-10
9-3 Magnetic brake characteristics ..................................................................................................... 9-14
9-4 Dynamic brake characteristics...................................................................................................... 9-17
9-4-1 Deceleration torque............................................................................................................... 9-17
9-4-2 Determining the coasting amount with emergency stop....................................................... 9-18
9-5 Vibration class .............................................................................................................................. 9-20
10. Specifications
10-1 Power supply unit/drive unit........................................................................................................ 10-2
10-1-1 Installation environment conditions..................................................................................... 10-2
10-1-2 Servo drive unit................................................................................................................... 10-2
10-1-3 Spindle drive unit................................................................................................................. 10-3
10-1-4 Power supply unit................................................................................................................ 10-3
10-1-5 Outline dimension drawings................................................................................................ 10-4
10-1-6 Terminal layout.................................................................................................................... 10-8
10-1-7 The combination of servo drive unit and a motor ............................................................... 10-9
10-2 Servomotor ................................................................................................................................. 10-10
10-2-1 Specifications list................................................................................................................. 10-10
10-2-2 Torque characteristics......................................................................................................... 10-12
10-2-3 Model configuration............................................................................................................. 10-14
10-2-4 Outline dimension drawings................................................................................................ 10-15

10-3 Linear servomotor....................................................................................................................... 10-21
10-3-1 List of specifications............................................................................................................ 10-21
10-3-2 Outline dimension drawings................................................................................................ 10-22
11. Selection
11-1 Selection of servomotor.............................................................................................................. 11-2
11-1-1 Servomotor.......................................................................................................................... 11-2
11-1-2 Regeneration methods........................................................................................................ 11-3
11-1-3 Motor series characteristics ................................................................................................ 11-4
11-1-4 Servomotor precision .......................................................................................................... 11-4
11-1-5 Selection of servomotor capacity ........................................................................................ 11-6
11-1-6 Example of servo selection ................................................................................................. 11-10
11-1-7 Motor shaft conversion load torque..................................................................................... 11-13
11-1-8 Expressions for load inertia calculation............................................................................... 11-14
11-1-9 Other precautions................................................................................................................ 11-15
11-2 Selection of linear servomotor .................................................................................................... 11-16
11-2-1 Maximum feedrate .............................................................................................................. 11-16
11-2-2 Maximum thrust................................................................................................................... 11-16
11-2-3 Continuous thrust ................................................................................................................ 11-18
11-3 Selection of the power supply unit.............................................................................................. 11-20
11-3-1 Selection of the power supply unit capacity ........................................................................ 11-20
11-3-2 Selection with continuous rated capacity ............................................................................ 11-20
11-3-3 Selection with maximum momentary rated capacity........................................................... 11-22
12. Inspection
12-1 Inspections.................................................................................................................................. 12-2
12-2 Service parts............................................................................................................................... 12-2
12-3 Daily inspections......................................................................................................................... 12-3
12-3-1 Maintenance tools............................................................................................................... 12-3
12-3-2 Inspection positions ............................................................................................................ 12-3
12-4. Replacement methods of units and parts..................................................................................... 12-4
12-4-1 Drive unit and power supply unit replacements..................................................................... 12-4
12-4-2 Battery unit replacements...................................................................................................... 12-4
12-4-3 Cooling fan replacements...................................................................................................... 12-4
Appendix 1. Compliance to EC Directives
1. European EC Directives .................................................................................................................... A1-2
2. Cautions for EC Directive compliance............................................................................................... A1-2
Appendix 2. EMC Installation Guidelines
1. Introduction........................................................................................................................................ A2-2
2. EMC Instructions ............................................................................................................................... A2-2
3. EMC Measures.................................................................................................................................. A2-3
4. Measures for panel structure............................................................................................................. A2-3
4.1 Measures for control box unit................................................................................................... A2-3
4.2 Measures for door .................................................................................................................... A2-4
4.3 Measures for operation board panel ........................................................................................ A2-4
4.4 Shielding of the power supply input section............................................................................. A2-4
5. Measures for various cables ............................................................................................................. A2-5
5.1 Measures for wiring in box ....................................................................................................... A2-5
5.2 Measures for shield treatment.................................................................................................. A2-5
5.3 Servomotor power cable .......................................................................................................... A2-6
5.4 Servomotor feedback cable ..................................................................................................... A2-6
5.5 Spindle motor power cable....................................................................................................... A2-7
5.6 Cable between control box and operation board panel ........................................................... A2-7

6. EMC Countermeasure Parts ............................................................................................................. A2-8
6.1 Shield clamp fitting ................................................................................................................... A2-8
6.2 Ferrite core ............................................................................................................................... A2-9
6.3 Power line filter......................................................................................................................... A2-10
6.4 Surge protector......................................................................................................................... A2-12
Appendix 3. EC Declaration of conformity
1. Low voltage equipment...................................................................................................................... A3-2
2. Electromagnetic compatibility............................................................................................................ A3-12
Appendix 4. Instruction Manual for Compliance with UL/c-UL Standard
1. UL/c-UL listed products ..................................................................................................................... A4-2
2. Operation surrounding air ambient temperature ............................................................................... A4-3
3. Notes for AC servo/spindle system ................................................................................................... A4-3
3.1 General Precaution .................................................................................................................. A4-3
3.2 Installation ................................................................................................................................ A4-3
3.3 Short-circuit ratings .................................................................................................................. A4-3
3.5 Field Wiring Reference Table for Input and Output.................................................................. A4-4
3.6 Motor Over Load Protection ..................................................................................................... A4-6
3.7 Flange of servomotor ............................................................................................................... A4-7
3.8 Spindle Drive / Motor Combinations......................................................................................... A4-7
4. AC Servo/Spindle System Connection.............................................................................................. A4-8
Appendix 5. Higher Harmonic Suppression Measure Guidelines
1. Calculating the equivalent capacity of the higher harmonic generator ............................................. A5-3
1.1 Calculating the total equivalent capacity (Step 1) .................................................................... A5-3
1.2 Calculating the higher harmonic current flow (Step 2) ............................................................. A5-4
Appendix 6. Transportation Restrictions for Lithium Batteries
Appendix 6-1 Transportation restrictions for lithium batteries ............................................................ A6-2
Appendix 6-1-1 Restriction for packing .......................................................................................... A6-2
Appendix 6-1-2 Issuing domestic law of the United State for primary lithium battery transportation A6-5
Appendix 7. Compliance with China Compulsory Product Certification (CCC Certification) System
Appendix 7-1 Outline of China Compulsory Product Certification System......................................... A7-2
Appendix 7-2 First Catalogue of Products subject to Compulsory Product Certification ................... A7-2
Appendix 7-3 Precautions for Shipping Products ............................................................................... A7-3
Appendix 7-4 Application for Exemption............................................................................................. A7-4
Appendix 7-5 Mitsubishi NC Product Subject to/Not Subject to CCC Certification ............................ A7-5

1. Preface
1-1 Inspection at purchase ....................................................................................................................... 1-2
1-1-1 Package contents........................................................................................................................ 1-2
1-1-2 Rating nameplate ........................................................................................................................ 1-2
1-1-3 Power supply unit model ............................................................................................................. 1-2
1-1-4 Servo drive unit model................................................................................................................. 1-3
1-1-5 Spindle drive unit model .............................................................................................................. 1-3
1-2 Explanation of each part .................................................................................................................... 1-4
1-2-1 Explanation of each power supply unit part ................................................................................ 1-4
1-2-2 Explanation of each servo drive unit part.................................................................................... 1-5
1-2-3 Explanation of each spindle drive unit part ................................................................................. 1-5
1 - 1

1. Preface
1-1 Inspection at purchase
Open the package, and read the rating nameplates to confirm that the drive units, power supply unit and
servomotor are as ordered.
1-1-1 Package contents
Packaged parts Qty. Packaged parts Qty.
Power supply unit 1 Servo drive unit 1
Servo/spindle motor 1 Spindle drive unit 1
1-1-2 Rating nameplate
The rating nameplate is attached to the front of the unit.
The following rating nameplate is for the servo drive unit. The same matters are indicated on the power
supply unit and spindle drive unit.
Caution statement
Unit Capacity
Model
Global industrial
standards
Software version
Input/output condition
Instruction manual No.
Serial No., Date of
manufacture
1-1-3 Power supply unit model
MDS - CH - CV - [ ]
Series
Power supply unit
Symbol
Rated
Output
[kW]
Symbol
Rated
Output
[kW]
37 2.2 260 22.0
55 3.7 300 26.0
75 5.5 370 30.0
110 7.5 450(Note) 37.0
150 11.0 550(Note) 45.0
185 15.0 750(Note) 55.0
220 18.5
(Note) DC connection bar is required. Always install a large capacity drive unit in the left
side of power supply unit, and connect with DC connection bar.
1 - 2

1. Preface
1-1-4 Servo drive unit model
MDS - CH - V1 - [ ]
Series
1-axis servo drive unit
Symbol
Rated
Output
[kW]
Symbol
Rated
Output
[kW]
05 0.5 70 7.0
10 1.0 90 9.0
20 2.0 110 11.0
35 3.5 150 15.0
45 4.5 185(Note) 18.5
(Note) DC connection bar is required. Always install a large capacity drive unit in the left side of
power supply unit, and connect with DC connection bar.
MDS - CH - V2 - [ ]
Series
2-axis servo drive unit
Symbol
Rated
Output
[kW]
Symbol
Rated
Output
[kW]
0505 0.5 / 0.5 3510 3.5 / 1.0
1005 1.0 / 0.5 3520 3.5 / 2.0
1010 1.0 / 1.0 3535 3.5 / 3.5
2010 2.0 / 1.0 4520 4.5 / 2.0
2020 2.0 / 2.0 4535 4.5 / 3.5
1-1-5 Spindle drive unit model
MDS - CH - SP[ ] - [ ]
Series
Spindle drive unit
Symbol
Cont.
Rating
[kW]
Symbol
Cont.
Rating
[kW]
15 0.75 185 15.0
22 1.5 220 18.5
37 2.2 260 22.0
55 3.7 300 26.0
75 5.5 370(Note) 30.0
110 7.5 450(Note) 37.0
150 11.0 550(Note) 45.0
750(Note) 55.0
Symbol
None
H
Corresponding spindle motor
Standard specifications part
• High-speed part: 10000r/min or more
• C axis detector (1/10000 o )
correspondence:
ERM280 (HEIDENHAIN)
• IPM spindle motor compatible
(Conventional SPM class has been
eliminated.)
(Note) DC connection bar is required. Always install a large capacity drive unit in the left side of
power supply unit, and connect with DC connection bar.
1 - 3

1. Preface
1-2 Explanation of each part
1-2-1 Explanation of each power supply unit part
Each part name
Name
TE1 L1, L2, L3
TE2 L+, L–
TE3
L11, L21
MC1
Description
Power supply input terminal
(3-phase AC input)
Converter voltage output terminal
(DC output)
PE Grounding terminal
Main circuit
---
CHARGE
LAMP
CN4 ---
Control circuit
Control power input terminal (single-phase
AC input)
External contactor control terminal
TE2 output charging/discharging circuit
indication LED
Servo/spindle communication connector
(master)
CN9 ---
Servo/spindle communication connector
(slave)
CN23 --- External emergency stop input connector
SW1 --- Power supply setting switch
LED --- Power supply status indication LED
Precautions
CN23 is located at the bottom of the power supply unit.
Each part name
-1
-2
Name
TE1 L1, L2, L3
-1 TE2-1 L+, L–
-2 TE2-2 L+, L–
TE3
L11, L21
MC1, MC2
Description
Power supply input terminal
(3-phase AC input)
Voltage output terminal (DC output)
CV-450/550/750
Voltage output terminal (DC output)
CV-450/550
Control power input terminal
(single-phase AC input)
External contactor control terminal
PE Grounding terminal
Main circuit
---
CHARGE
LAMP
CN4 ---
Control circuit
TE2 output charging circuit indication
LED
Servo/spindle communication connector
(master)
CN9 ---
Servo/spindle communication connector
(slave)
CN23 --- External emergency stop input connector
SW1 --- Power supply setting switch
LED --- Power supply status indication LED
Precautions
CN23 is located at the bottom of the power supply unit.
TE2-2 is used to connect a 30kW or smaller drive unit.
The connector layout will differ according to the units being used.
Check each unit outline drawing for details.
1 - 4

1. Preface
1-2-2 Explanation of each servo drive unit part
Each part name
TE1
Name
MU, MV, MW
LU, LV, LW
TE2 L+, L–
TE3 L11, L21
Main circuit
PE
Description
Motor drive output terminal
(3-phase AC output)
Converter voltage input terminal
(DC input)
Control power input terminal
(single-phase AC input)
Grounding terminal
CN1A ---
NC or upward axis communication
connector
CN1B ---
Battery unit/terminator
Lower axis communication connector
CN4 --- Power supply communication connector
CN9 --- Maintenance connector (normally not used)
CN2L ---
Motor side detector connection connector
(L axis)
CN2M ---
Motor side detector connection connector
(M axis)
CN3L ---
Machine side detector connection
connector (L axis)
CN3M ---
Machine side detector connection
connector (M axis)
CN20 --- Electromagnetic/dynamic brake connector
SW1 --- Axis No. setting switch
Control circuit
LED --- Unit status indication LED
Precautions
1. The connector names differ for the V1 drive unit.
(CN2L/CN3L → CN2/CN3, CN2M/CN3M → Not mounted)
The MU, MV and MW terminals are not provided. The LU, LV and LW terminals
are named U, V and W.
1-2-3 Explanation of each spindle drive unit part
Each part name
Name
TE1 U, V, W
TE2 L+, L–
TE3 L11, L21
Main circuit
PE
Description
Motor drive output terminal
(3-phase AC output)
Converter voltage input terminal
(DC input)
Control power input terminal
(single-phase AC input)
Grounding terminal
CN1A --- NC or upward axis communication connector
CN1B ---
Battery unit/terminator lower axis
communication connector
CN4 --- Power supply communication connector
CN9 --- Maintenance connector (normally not used)
CN5 --- Internal PLG encoder connection connector
CN7 --- C axis control encoder connection connector
CN6 --- Magnetic sensor connection connector
CN8 --- CNC connection connector
SW1 --- Axis No. setting switch
Control circuit
Precautions
LED --- Unit status indication LED
The connector and terminal block layout will differ according to the
units being used.
Check each unit outline drawing for details.
1 - 5

2. Wiring and Connection
2-1 Part system connection diagram........................................................................................................ 2-3
2-2 Main circuit terminal block/control circuit connector .......................................................................... 2-5
2-2-1 Connector pin assignment .......................................................................................................... 2-5
2-2-2 Names and applications of main circuit terminal block signals and control circuit connectors .. 2-7
2-2-3 How to use the control circuit terminal block (MDS-CH-SP-750) ............................................... 2-8
2-3 NC and drive unit connection........................................................................................................... 2-10
2-4 Motor and detector connection ........................................................................................................ 2-11
2-4-1 Connection of HC-H Series....................................................................................................... 2-11
2-4-2 Connection of the spindle motor ............................................................................................... 2-14
2-4-3 Connection of the linear servomotor LM-NP Series.................................................................. 2-15
2-5 Connection of power supply............................................................................................................. 2-16
2-5-1 Standard connection ................................................................................................................. 2-16
2-5-2 DC connection bar..................................................................................................................... 2-18
2-5-3 Two-part system control of power supply unit........................................................................... 2-19
2-5-4 Using multiple power supply units............................................................................................. 2-20
2-6 Connection of AC reactor................................................................................................................. 2-21
2-6-1 Features of the AC reactor........................................................................................................ 2-21
2-6-2 Wiring of AC reactor .................................................................................................................. 2-21
2-7 Wiring of contactors ......................................................................................................................... 2-22
2-7-1 Contactor power ON sequences............................................................................................... 2-23
2-7-2 Contactor shutoff sequences .................................................................................................... 2-23
2-7-3 Contactor control signal (MC1) output circuit............................................................................2-24
2-8 Wiring of the motor brake................................................................................................................. 2-25
2-8-1 Motor brake release sequence.................................................................................................. 2-25
2-8-2 Control during the servo OFF command................................................................................... 2-25
2-8-3 Operation sequences when an emergency stop occurs........................................................... 2-25
2-8-4 Motor brake control connector (CN20) output circuit ................................................................ 2-26
2-9 Wiring of an external emergency stop ............................................................................................. 2-27
2-9-1 External emergency stop setting............................................................................................... 2-27
2-9-2 Operation sequences of CN23 external emergency stop function ........................................... 2-28
2-9-3 Example of emergency stop circuit ........................................................................................... 2-29
2-10 Connecting the Grounding Cable................................................................................................... 2-30
2-10-1 Connecting the Frame Ground (FG) ....................................................................................... 2-30
2-10-2 Grounding cable size............................................................................................................... 2-30
2 - 1

2. Wiring and Connection
DANGER
1. Wiring work must be done by a qualified technician.
2. Wait at least 15 minutes after turning the power OFF and check the voltage
with a tester, etc., before starting wiring. Failure to observe this could lead to
electric shocks.
3. Securely ground the drive units and servo/spindle motor with Class 3
grounding or higher.
4. Wire the drive units and servo/spindle motor after installation. Failure to
observe this could lead to electric shocks.
5. Do not damage, apply forcible stress, place heavy items on the cables or get
them caught. Failure to observe this could lead to electric shocks.
6. Always insulate the power terminal connection section. Failure to observe
this could lead to electric shocks.
1. Correctly and securely perform the wiring. Failure to do so could lead to
runaway of the servo/spindle motor.
2. Do not mistake the terminal connections.
Failure to observe this item could lead to ruptures or damage, etc.
3. Do not mistake the polarity ( + , – ). Failure to observe this item could lead to
ruptures or damage, etc.
4. Do not mistake the direction of the diodes for the surge absorption installed
on the DC relay for the motor brake and contactor (magnetic contactor)
control. The signal might not be output when a failure occurs.
Drive unit
COM
(24VDC)
CAUTION
Control output signal
RA
5. Electronic devices used near the drive units may receive magnetic
obstruction. Reduce the effect of magnetic obstacles by installing a noise
filter, etc.
6. Do not install a phase advancing capacitor, surge absorber or radio noise
filter on the power line (U, V, W) of the servo/spindle motor.
7. Do not modify this unit.
8. The half-pitch connector (CN1A, etc.) on the front of the drive units have the
same shape. If the connectors are connected incorrectly, faults could occur.
Make sure that the connection is correct.
9. When grounding the motor, connect to
the protective grounding terminal on the
drive units, and ground from the other
protective grounding terminal.
(Use one-point grounding)
Do not separately ground the connected
motor and drive unit as noise could be
generated.
2 - 2

2. Wiring and Connection
2-1 Part system connection diagram
Mitsubishi CNC
MDS-CH-CV-[ ]
MDS-CH-SP-[ ]
MDS-CH-V2-[ ]
SV1,2
(CSH21)
SH21 cable
Battery unit
BT-[ BT-[ ] ]
CN1A
CN1B
CN1A
CN1A
CN1B
CN4
CN4
CN8
SH21 cable
CN4
CN3M
CNV13 cable
Machine side
detector
External emergency
stop
CN23 CN9
CN9
CN7
CN9
CN3L
CNV13 cable
Machine side
detector
Circuit breaker
R
S
T
AC reactor
CH-AL[ CH-AL[ ] K ]K
Magnetic
contactor
TE1
L1
L2
L3
TE2
L+
TE2
L+
CN6
CN5
TE1
U
V
W
CNP5S cable
M
3~
PLG
CN20
TE2
L+
CN2L
CN2M
TE1
MU
MV
MW
CNV12 cable
CNV12 cable
M
3~
Motor side
detector
Ground
TE3
L-
L-
L-
LU
Main circuit
MC
MC1
L11
L21
TE3
L11
L21
TE3
L11
L21
LV
LW
M
3~
Motor side
detector
Control circuit
Ground
Ground
Ground
(Note 1) The total length of the SH21 cable must be within 30m.
(Note 2) The connection method will differ according to the used motor.
(Note 3) When not using an absolute position detector, connect the terminal connector (R-TM).
(Note 4) The main circuit ( ) and control circuit (◦) are safely separated.
2 - 3

2. Wiring and Connection
Example of actual wiring
Servo drive unit
Spindle drive unit
Battery
unit
Power supply unit
NC controller
SH21 SH21 SH21
SH21
L+
L-
L+
L-
L11
L21
L11
L21
L11
L21
MC1
CNV12 cable
CNP5S cable
DRTE1
cable
L1
L2
L3
Contactor
DRSV cable
(Drive line)
DRSP cable
(Drive line)
AC reactor
Breaker
Servo motor
Spindle motor
L1 L2 L3
Note)
The main circuit cable wiring must be prepared by the user.
The wiring to the grounding cable is not shown. Refer to section "2-10 Wiring the Grounding Cable".
2 - 4

2. Wiring and Connection
2-2 Main circuit terminal block/control circuit connector
CAUTION
Do not apply a voltage other than that specified in Instruction Manual on each
terminal. Failure to observe this item could lead to rupture or damage, etc.
2-2-1 Connector pin assignment
Power supply unit
Terminal
Unit
MDS-CH-CV-37 to
MDS-CH-CV-370
MDS-CH-CV-450
MDS-CH-CV-550
MDS-CH-CV-750
Terminal
position
1
2
TE1
L1 L2 L3
L1 L2 L3
L1 L2 L3
PE
37-185 220-370
Screw size M5×12 M8×14
Tightening torque 2.0Nm 6.0Nm
450 550
Screw size M8×16 M10×20
Tightening torque 6.0Nm 11.0Nm
750
Screw size M10×20
Tightening torque 11.0Nm
1
L+
L–
Terminal specification/Pin assignment
TE2
TE3
L+
L–
37-185 220-370
Screw size M6×15 M6×15
Tightening torque 3.0Nm 3.0Nm
2
450 550
Screw size M10×20 M10×20
Tightening torque 11.0Nm 11.0Nm
L+
L–
450 550
Screw size M6×16 M6×16
Tightening torque 3.0Nm 3.0Nm
L1 L12 MC1
L+
L–
750
Screw size M10×20
Tightening torque 11.0Nm
L11 L12 MC1
L11
L21
MC1
L12 L22 MC2
L12 L22 MC2
37-185 220-370
Screw size M4×10 M4×10
Tightening torque 1.2Nm 1.2Nm
450 550
Screw size M4×8 M4×8
Tightening torque 1.2Nm 1.2Nm
750
Screw size M4×8
Tightening torque 1.2Nm
Refer to PE terminal of TE1.
450 550
Screw size M8×16 M10×20
Tightening torque 6.0Nm 11.0Nm
750
Screw size M10×20
Tightening torque 11.0Nm
2 - 5

2. Wiring and Connection
Servo/spindle drive unit
Terminal
Unit
MDS-CH-V-150 or less
MDS-CH-SP-300 or less
MDS-CH-V2 Series
MDS-CH-V1-185
MDS-CH-SP-370
MDS-CH-SP-450/550
MDS-CH-SP-750
Terminal
position
UU V W
MU MV MW
U V W
Terminal specification/Pin assignment
TE1
TE2
TE3
Corresponding
unit
PE
LU LV LW
V1- 10-35 45-90 110-150
V2- 1010-4535 ---- ----
SP- 15-37 55-185 220-300
Screw size M4×10 M5×12 M8×14
Tightening torque 1.2Nm 2.0Nm 6.0Nm
L+
L–
V1/V2/SP
Screw size M6×16
Tightening torque 3.0Nm
L11
L21
PE
370 450/550/750
Screw size M8×16 M10×20
Tightening torque 6.0Nm 11.0Nm
370 450/550/750
Screw size M10×20 M10×20
Tightening torque 11.0Nm 11.0Nm
L11 L21
L+
L–
V1/V2/SP
Screw size M4×10
Tightening torque 1.2Nm
Refer to PE terminal of TE1.
370/450/550 750
Screw size M4×8 Refer to "2-2-3".
Tightening torque 1.2Nm Refer to "2-2-3".
370 450/550/750
Screw size M8×16 M10×20
Tightening torque 6.0Nm 11.0Nm
2 - 6

2. Wiring and Connection
2-2-2 Names and applications of main circuit terminal block signals and control circuit
connectors
The following table shows the details for each terminal block signal.
Name Signal name Description
L1 . L2 . L3
L11 . L21
(L12 . L22)
MC1
(MC2)
U . V . W
LU . LV . LW
MU . MV . MW
Main circuit
power supply
Control circuit
power supply
Contactor
control
Motor output
Motor output
Servo
Protective
grounding (PE)
Main circuit power supply input terminal
Connect a 3-phase 380 to 480VAC, 50/60Hz power supply.
Control circuit power supply input terminal
Connect a single-phase 380 to 480VAC, 50/60Hz power supply.
Connect the same power supply phase for L11 and L12, and L21 and
L22.
Contactor control terminal
The MC1 terminal has the same phase as L21. Connect to a different
phase than the phase connected to L21. (Connect MC2 with L21.)
Servo/spindle motor power output terminal
The servo/spindle motor power terminal (U, V, W) is connected.
motor power output terminal (L-axis/M-axis)
The servo/spindle motor power terminal (U, V, W) is connected.
Grounding terminal
The servomotor/spindle motor grounding terminal is connected and
grounded.
1. Always use one AC reactor per power supply unit.
Failure to observe this could lead to unit damage.
CAUTION
2. When sharing a breaker for several power supply units, of a short-circuit
fault occurs in a small capacity unit, the breaker could trip. This can be
hazardous, so do not share the breaker.
3. Be sure to use the breaker of proper capacity for each Power Supply Unit.
2 - 7

2. Wiring and Connection
2-2-3 How to use the control circuit terminal block (MDS-CH-SP-750)
The control power for the 75kW spindle unit is not connected to the terminal block, so wire according to
the following instructions.
Length to peel
Treatment of wire end
Single wire: Peel the wire sheath, and use the wire.
(Wire size: 0.25 to 2.5 mm 2 )
Approx. 10mm
Stranded wire: Peel the wire sheath, and then twist the core wires.
Take care to prevent short circuits with the
neighboring poles due to the fine strands of the core wires. Solder plating onto the
core wire section could cause a contact defect and must be avoided. (Wire size:
0.25 to 2.5 mm 2 )
Use a bar terminal and bundle the strands. (Made by Phoenix contact)
Bar terminal for one wire
(Bar terminal phenol with insulation sleeve)
Bar terminal for two wires
(TWIN phenol with insulation sleeve)
Wire size
Bar terminal type
[mm 2 ] AWG For one wire For two wires
0.25 24
AI0.25-6YE
AI0.25-8YE
–
0.5 20
AI0.5-6WH
AI0.5-8WH
–
AI0.75-6GY
AI-TWIN2×0.75-8GY
0.75 18 AI0.75-8GY
AI-TWIN2×0.75-10G
Y
1 18
AI1-6RD
AI1-8RD
AI-TWIN2×1-8RD
AI-TWIN2×1-10RD
1.5 16
AI1.5-6BK
AI1.5-8BK
AI-TWIN2×1.5-8BK
AI-TWIN2×1.5-12BK
2.5 14
AI2.5-8BU
AI2.5-8BU-1000
AI-TWIN2×2.5-10BU
AI-TWIN2×2.5-13BU
Crimping tool
CRIMPFOX-UD6
Connection method
Insert the core wire section of the wire into the opening, and tighten with a screwdriver so that the
wire does not come out. (Tightening torque: 0.5 to 0.6 N•m) When inserting the wire into the
opening, make sure that the terminal screw is sufficiently loose. When using a wire that is 1.5 mm 2
or less, two wires can be inserted into one opening.
2 - 8

2. Wiring and Connection
Flat-tip screwdriver
· Tip : 0.4 to 0.6 mm
· Total width : 2.5 to 3.5 mm
Loosen Tighten
Wire
Opening
Control circuit terminal block
2 - 9

2. Wiring and Connection
2-3 NC and drive unit connection
The NC bus cables are connected from the NC to each drive unit so that they run in a straight line from
the NC to the terminal connector (battery unit). And up to 7 axes can be connected per system. (Note
that the number of connected axes is limited by the CNC. The following drawing shows an example with
4 axes connected.)
< Connection >
CN1A : CN1B connector on NC or previous stage's drive unit
CN1B : CN1A connector on next stage's drive unit or terminal connector (battery unit)
CN4 : Connector for communication between power supply unit (master side) and drive unit
Connected to the NC
Refer to the
instruction manual
of each NC for
details.
CN1A
MDS-CH-V2-[ ][ ]
1st/2nd axis
MDS-CH-V1-[ ]
3rd axis
MDS-CH-SP-[ ]
4th axis (final axis)
Connect to the battery
unit with a terminal
connector or SH21
cable.
CN1B CN1A CN1B CN1A
CN1B
MDS-CH-CV-[ ]
SH21 cable
CN4
CN4
Max. length of 30m from the NC to the terminal connector.
CAUTION
POINT
Wire the SH21 cable between the NC and drive unit so that the distance
between the NC and terminal connector (battery unit) is within 30m.
Axis Nos. are determined by the rotary switch for setting the axis No. (Refer to
section "4-1-1 Setting the rotary switch".) The axis No. has no relation to the
order for connecting to the NC.
2 - 10

2. Wiring and Connection
2-4 Motor and detector connection
2-4-1 Connection of HC-H Series
The OSE105, OSA105, OSE104 or OSA104 detector can be used. The detector connection method is
the same for all models.
(1) Connecting the servomotor without brakes
Detector connector
MS3102A22-14P
MDS-CH-V1 Series
L
J
K
N
Option cable : CNV12
(Refer to Chapter 6 for details on the cable treatment.)
H
S
R
E
Max. 30m
CN2
Pin
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
U
V
Signal
BAT
SD
SD*
RQ
RQ*
FG
LG
P5 (+5V)
Power wire and grounding wire
(Refer to Chapter 7 for details on selecting the wire.)
U
V
W
Power connector
JL04HV-2E22-22PE-B
Servomotor
D
C
A
B
Pin
A
B
C
D
Signal
U
V
W
Grounding
Note) The above connection is used for the single-axis servo drive unit.
2 - 11

2. Wiring and Connection
(2) Connecting the servomotor with brakes
Use the same wiring as the servomotor without brakes, and add the wiring for the brakes. The
brakes can be released when 24VDC is supplied. To ensure safety, use a twisted wire or shielded
wire for the motor brake wiring, and sequence it with the emergency stop switch.
MDS-CH-V1 Series
Option cable: CNV12
(Refer to Chapter 6 for details on the cable treatment.)
Detector connector
MS3102A22-14P
Max. 30m
CN2
CN20
24VDC
J
K
L
N
H
S
R
E
Pin
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
U
V
Name
BAT
SD
SD*
RQ
RQ*
FG
LG
P5 (+5V)
DRSV1
U V W
Power wire and grounding wire
(Refer to Chapter 7 for details on selecting the wire.)
Motor brake wiring
(Refer to section "2.8 Wiring of the motor brake" for details.)
Power connector
JL04HV-2E22-22PE-B
Servomotor
D
C
A
B
Pin
A
B
C
D
Name
U
V
W
Grounding
Brake connector
MS3102A10SL-4P
A
B
Pin
A
B
Name
B1
B2
24VDC does not have a polarity.
Note) The above connection is used for the single-axis servo drive unit.
Refer to section "2.8 Wiring of the motor brake" for details on the motor brake wiring.
2 - 12

2. Wiring and Connection
(3) When linear scale is connected as a closed system
Detector connector
MS3102A22-14P
MDS-CH-V1 Series
J
K
L
N
Option cable: CNV12
(Refer to Chapter 6 for details on the cable treatment.)
H
S
R
E
Max. 30m
CN2
CN3
Pin
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
U
V
Name
BAT
SD
SD*
RQ
RQ*
FG
LG
P5 (+5V)
DRSV1
Option cable: CNL3
(Refer to Chapter 6 for details on the cable treatment.)
U
V
W
Servomotor
Linear scale
Note) The above connection is used for the single-axis servo drive unit.
Refer to section "6-4-6 Example of scale I/F unit connection" for details on connecting the linear
scale.
2 - 13

2. Wiring and Connection
2-4-2 Connection of the spindle motor
Refer to each motor specifications for details on the motor side connection destination, specifications
and outline, and for the spindle PLG detector specifications.
MDS-CH-SP[ ] Series
Option cable : CNP5S
(Refer to Chapter 6 for details on the cable treatment.)
Max. 30m
CN5
Detector connector
178289-6
*Tyco Electric
Pin
A2
B2
A3
B3
A4
B4
A1
B5
A6
B6
Signal
PA
RA
PB
RB
PZ
RZ
P5
GND
MOH
RG
U V W
U V W
Power wire and grounding wire
(Refer to Chapter 7 for details on selecting the wire.)
Spindle motor
2 - 14

2. Wiring and Connection
2-4-3 Connection of the linear servomotor LM-NP Series
Refer to section "6-4 Scale I/F unit" when connecting the linear scale via the scale I/F unit
(1) Connecting the linear scale directly to the drive unit
MDS-CH-V1 Series
Option cable : CNL2S
(Refer to Chapter 6 for details on the cable treatment.)
Max. 30m
CN2
DRSV1
Power wire and grounding wire
U
V
W
(Refer to Chapter 7 for details on selecting the wire.)
Linear servomotor
Motor thermal signal
Connect to the DI input on the
NC control unit so that motor
overheating can be detected.
Absolute position linear scale
Cooling cable
When using an oil-cooled motor
CAUTION
1. Only the absolute position linear scale can be directly connected to the drive
unit.
Connect the relative linear scale via the scale I/F unit.
(Refer to section "6-4 Scale I/F unit for details.)
2. Only the MDS-CH-V1 Series can drive the linear servomotor.
2 - 15

2. Wiring and Connection
2-5 Connection of power supply
CAUTION
1. Make sure that the power supply voltage is within the specified range of the
power supply unit. Failure to observe this could lead to damage or faults.
2. For safety purposes, always install a circuit breaker (CB), and make sure that
the circuit is cut off when an error occurs or during inspections. Refer to
Chapter 7 and select a circuit breaker.
3. The wire size will differ according to each unit capacity. Refer to Chapter 7
and select the size.
4. For safety purposes, always install a magnetic contactor (contactor) on the
main circuit power supply input. Large rush currents will flow when the power
is turned ON. Refer to Chapter 7 and select the correct contactor.
5. A semiconductor element (bidirectional thyristor) is used in the power supply
unit's magnetic contact drive circuit. A surge absorber is incorporated to
protect this element, and a leakage current of up to 15mA is passed. Check
with the maker beforehand to confirm that the exciting coil (contactor) will not
malfunction with this leakage current.
6. Do not connect anything to the MC1 terminal when not using the contactor.
The semiconductor element in the power supply unit will be damaged if the
power supply (R, S, T) is directly connected.
2-5-1 Standard connection
Directly drive the magnetic contactor (contactor) using the power supply unit's TE3 terminal (MC1)
(1) For MDS-CH-CV-370 and smaller
MDS-CH-CV
(37.0kW or less)
MDS-CH-SP
(30.0kW or less)
MDS-CH-V1/V2
L1
No-fuse
breaker
L11
AC reactor
CH-AL[ ]K
L12
LCVTE1
Magnetic
contactor
TE1
L1
CN4
CN4
L2
L21
L22
L2
L3
L31
L32
L3
TE2
L+
L+
TE2
L+
L+
TE2
L+
L11
L21
Ground
MC1
Breaker
Follow section "7-3-1
Circuit protector" when
installing a breaker.
MC
LCVTE3
TE3
MC1
L11
L21
L-
L-
L11
L21
L-
TE3
L11
L21
L-
L11
L21
L-
TE3
L11
L21
Main circuit connection
Ground
Ground
Ground
CAUTION
1. The power supply unit is a power supply regenerative type converter; an AC
reactor is installed in the power supply line. When connecting to the TE3
terminal, connect to the power supply side (primary side) of the AC reactor.
2. Connect the power supply unit's CN4 connector with the spindle drive unit in
the same system. (Connect with the servo drive unit if there is no spindle
drive unit.)
2 - 16

2. Wiring and Connection
(2) For MDS-CH-CV-450 and larger
L1
No-fuse
breaker
L11
AC reactor
CH-AL[ ]K
L12
LCVTE1
Magnetic
contactor
MDS-CH-CV
(45/55/75kW or less)
TE1 TE2-2
L1 L+
MDS-CH-SP
(37/45/55/75kW)
MDS-CH-V1/V2
L+
TE2
L2
L21
L22
L2
L-
L-
L3
L31
L32
L3
Ground
Breaker
MC
LCVTE3
TE3 TE2-1
L+
MC1
L-
L12
L11
Enclosed
dedicated
bar
TE2
L+
L-
TE3
L11
TE3
L11
Follow section "7-3-1
Circuit protector" when
installing a breaker.
L21
L22
MC2
L21
L21
Ground
Ground
Ground
POINT
The TE3 MC2 is used to control the magnetic contactor (contactor) with an
independent power supply.
Normally, use the wiring shown above. (MC1 and L21 are the same phase.)
2 - 17

2. Wiring and Connection
2-5-2 DC connection bar
When connecting a large capacity drive unit with the L+L- terminal of power supply unit, DC connection
bar is required. In use of the following large capacity drive units, use a dedicated DC connection bar.
The DC connection bar to be used depends on the connected power supply, so make a selection
according to the following table. Also refer to the section "3-1-4 Panel installation hole work drawings".
Large capacity drive unit Power supply unit Required connection bar
MDS-CH-V1-185
MDS-DH-SP-370
MDS-CH-SP-450
MDS-CH-SP-550
MDS-CH-CV-450
MDS-CH-CV-550
Following (1)
MDS-CH-SP-750 MDS-CH-CV-750 Following (2)
< Outline dimension drawings >
(1) For connecting MDS-CH-CV-450/550
12 x 24 long hole φ12
12.5
(25)
(17) 57.5
14.5
3
89
(Note) This DC connection bar is a set of two DC connection bars.
(2) For connecting MDS-CH-CV-750
93
26
41 26
13
27
20
12.5
(R)
68±0.5
12.5
φ13 hole
CAUTION
1. These DC connection bars are accessories.
2. Always install a large capacity drive unit in the left side of power supply unit,
and connect with DC connection bar.
2 - 18

2. Wiring and Connection
2-5-3 Two-part system control of power supply unit
Confirm that the total capacity of the drive units does not exceed the power supply unit's capacity.
The axis controlled to the power supply unit's CN4 connector is the axis controlled by the power supply
unit. The final axis connected to the CN4 connector must be the spindle drive unit.
MDS-CH-CV
MDS-CH-SP
MDS-CH-V1/V2
CN4
(1st part system)
CN4
No-fuse
breaker
L1
AC reactor
CH-AL[ ]K
L11
L12
Magnetic
contactor
L1
TE1
CN9
(2nd part system)
L2
L21
L22
L2
L3
L31
L32
L3
TE2
L+
TE2
L+
TE2
L+
Ground
TE3
L-
L-
L-
Breaker
MC
MC1
L11
TE3
L11
TE3
L11
L21
L21
L21
Follow section "7-3-1
Circuit protector" when
installing a breaker.
Ground
Ground
Ground
MDS-CH-SP
MDS-CH-V1/V2
CN4
TE2
TE2
L+
L+
L-
L-
Breaker
TE3
L11
L21
TE3
L11
L21
Main circuit connection
Follow section "7-3-1
Circuit protector" when
installing a breaker.
Ground
Ground
CAUTION
Arrange the units next to each other so that the TE2 (L+, L-) wiring is as short as
possible. The above drawing shows the units in two stages for explanatory
purposes.
2 - 19

2. Wiring and Connection
2-5-4 Using multiple power supply units
In a system configured of multiple spindle drive units, etc., there may be cases when the units cannot be
driven with one power supply unit. Use several power supply units in this case. Refer to section "11-7
Selecting the power supply unit" for details on making a selection.
MDS-CH-CV
MDS-CH-SP
MDS-CH-V1/V2
CN4
CN4
L1
No-fuse
breaker
L11
AC reactor
CH-AL[ ]K
L12
Magnetic
contactor
L1
TE1
CN9
L2
L21
L22
L2
L3
L31
L32
L3
TE2
L+
TE2
L+
TE2
L+
Ground
TE3
L-
L-
L-
Breaker
MC
MC1
L11
TE3
L11
TE3
L11
L21
L21
L21
Follow section "7-3-1
Circuit protector" when
installing a breaker.
Ground
Ground
Ground
MDS-CH-CV
MDS-CH-SP
MDS-CH-V1/V2
CN4
CN4
L1
No-fuse
breaker
L11
AC reactor
CH-AL[ ]K
L12
Magnetic
contactor
TE1
L1
CN9
L2
L21
L22
L2
L3
L31
L32
L3
TE2
L+
TE2
L+
TE2
L+
Ground
TE3
L-
L-
L-
Breaker
MC
MC1
L11
TE3
L11
TE3
L11
L21
L21
L21
Follow section "7-3-1
Circuit protector" when
installing a breaker.
Main circuit connection
Ground
Ground
Ground
CAUTION
1. An AC reactor and breaker must be installed for each power supply unit.
2. The communication cable connected with the NC can be split for each power
supply unit.
(Refer to section 2-3. NC and drive unit connection.)
2 - 20

2. Wiring and Connection
2-6 Connection of AC reactor
2-6-1 Features of the AC reactor
This AC reactor smoothes out distorted waveforms when regenerating unnecessary energy into the
power, and is effective in suppressing unnecessary higher harmonics.
These features prevent other devices from malfunctioning. A radio noise filter is assembled in the AC
reactor.
During power regeneration
Power supply
unit side
AC reactor
Power supply side
2-6-2 Wiring of AC reactor
The installation direction of the AC reactor is set. If installed in reverse, the effective of the AC reactor
will not be sufficiently achieved, and the noise suppressing effect may also drop.
Protection cover
DRIVE
MAIN
Grounding terminal and
installation hole
Refer to section "6-7 AC reactor" for the outline dimensions of the AC reactor.
CAUTION
1. The AC reactor's terminal protection cover is provided only on the upper
installation surface. Install so that the terminals cannot be touched from the
side. Add a protection cover as required.
2. The AC reactor will become hot.
• Use flame-resistant wires.
• Lead the wires so that they do not contact the AC reactor.
3. A terminal is provided on the AC reactor, so always ground the unit.
2 - 21

2. Wiring and Connection
2-7 Wiring of contactors
A contactor (magnetic contactor) is inserted in the main circuit power supply input (L1, L2, L3) of a
power supply unit, and the power supply input is shut off when an emergency stop or servo alarm
occurs.
When an emergency stop or servo alarm occurs, the servo drive unit stops the motor using deceleration
control or a dynamic brake. The spindle drive unit performs the deceleration stop control. The power
supply unit must maintain the power supply (power regeneration) while returning the energy from each
axis being decelerated to the power line. Thus, the contactor cannot be shut off. Therefore, the NC
controls the contactors. The NC confirms that all axes are stopped, or confirms the dynamic brake
operation, and then it outputs a contactor shutoff command of the power supply unit via the drive unit.
Give consideration to the above, and examine the contactor drive method in the following order of
priority.
CAUTION
1. The contactors cannot be driven other than from a power supply unit.
Undervoltage (alarm) may occur if the contactors are shut off at the same
time as an emergency stop occurrence.
2. Do not directly shut off the contactors with an external sequence. They may
shut off faster than the emergency stop input, and the input power supply
may be shut off during the deceleration control or vertical axis drop
prevention control. If this happens, an undervoltage alarm will occur, and
deceleration control or drop hold may not be possible. When
double-protecting, use a power supply unit external emergency stop input.
(Refer to section "2-9 Wiring of an external emergency stop.)
No.
Abbreviation
Parameter name
SV036 PTYP Power supply type The following parameter must be set.
Descriptions
F E D C B A 9 8 7 6 5 4 3 2 1 0
AMP RTYP PTYP
2 - 22

2. Wiring and Connection
2-7-1 Contactor power ON sequences
The main circuit power supply is turned ON in the sequences in the following drawing when the
contactor control output (TE3: MC1) of the power supply unit is used. Each interface voltage of the main
circuit power supply (L1/L2/L3) is checked. If voltage is applied on any voltage (if the contactor is
melted), contactor melting (alarm 6A) is detected.
Control power supply (L11/L21)
Main circuit power supply (L1/L2/L3)
Contactor fusion check
Approx. 800ms
(Monitoring of power status)
Contactor control terminal (MC1)
Emergency stop from NC (EMG)
ON
OFF
ON
Cancel
Contactor power ON sequences
Approx. 4ms
Operation delay time
POINT
1. The parameters must be set when controlling the contactor (MC1)
2. The power supply unit's power state is monitored approx. 800ms after the
contactor control terminal (MC1) turns ON. If the voltage is insufficient, the
main circuit error (alarm 6C) or open phase (alarm 67) will occur. In all other
cases, a ground fault (alarm 69) will occur.
2-7-2 Contactor shutoff sequences
When an emergency stop or servo alarm occurs, the NC confirms the zero speed (motor stop or
dynamic brake operation) for all axes, and then shuts off the contactors.
If MC shut off enabled is not output, an external emergency stop signal (EMGX) will be output in 30
seconds from the power supply unit's CN23 connector to forcibly shut off the MC1 terminal. The spindle
will coast after that.
Emergency stop (EMG)
1st axis
(dynamic brake stop)
2nd axis
(deceleration control)
3rd axis
(deceleration control + drop
prevention control)
Contactor control terminal (MC1)
(When normal)
MC1 (during NC emergency
stop error)
(Power supply unit's CN23
operates)
Cancel
ON
Speed
0
Speed
0
Speed
0
OFF
Output
OFF
Output
Drop prevention
30s
Contactor shutoff sequences
When vertical axis drop prevention
function is valid (Delayed by the time
set with sv048)
When vertical axis drop prevention
function is not valid
2 - 23

2. Wiring and Connection
2-7-3 Contactor control signal (MC1) output circuit
A contactor or AC relay, etc., can be driven. Install a surge absorber when using a conductive load.
Contactor
MDS-CH-CV-370 or less
TE3
MC1
37kW
or less
Bidirectional
thyristor
L21
L11
Surge absorber
L2
L1
Contactor
MDS-CH-CV-450 or more
TE3
MC1
45kW
or
more
MC2
L21
L11
Surge absorber
L2
L1
POINT
The 45kW and larger units have MC1 and MC2. For normal use, connect MC2
and L21. MC2 is used when controlling the contactor with an independent power
supply.
2 - 24

2. Wiring and Connection
2-8 Wiring of the motor brake
The magnetic brake of servomotors with a magnetic brake is driven by the motor brake control
connector (CN20) on the servo drive unit. The servo drive unit releases the brake when the motor is ON.
(Servo ON means when torque is generated in the motor.)
2-8-1 Motor brake release sequence
The motor brake control connector (CN20: MBR) releases the magnetic brake in the sequences in the
following drawing when canceling the emergency stop. The brake is released after the start of the power
ON to the servomotor.
Emergency stop (EMG)
Dynamic brake
ON
Cancel
Cancel
ON
Magnetic brake
Cancel
ON
Servo ready signal (RDY)
Servo ready completion
signal (SA)
ON
OFF
ON
OFF
Ready completion
Command input enable
0 500 1000 1500 Time (ms)
Motor brake control sequences when an emergency stop is canceled
2-8-2 Control during the servo OFF command
When a servo OFF command is input by an NC sequence input, the motor brake turns ON
simultaneously when the motor ON is shut off. Note that the vertical axis drop prevention control is not
validated, so a drop due to the brake operation lag occurs. When the servo OFF is canceled, a drop due
to an uncontrolled state does not occur.
200ms
Servo OFF command
Dynamic brake
Motor ON (GATE)
Motor brake control output
CN20 connector (MBR)
SERVO ON
SERVO OFF
OFF
ON
ON
OFF
OFF
ON
Motor brake control sequences when a servo OFF command is output
CAUTION
The vertical axis drop prevention control only is performed during an emergency
stop (including alarms and power failures). It is not performed when a servo OFF
command is input.
2-8-3 Operation sequences when an emergency stop occurs
The motor brake control output operation when an emergency stop occurs differs according to the motor
deceleration stop method. Refer to section "5-4 Setting for emergency stop" for details on the operation
sequences for each stop method.
2 - 25

2. Wiring and Connection
2-8-4 Motor brake control connector (CN20) output circuit
The motor brakes can be controlled with the CN20 connector.
The brakes controlled with the CN20 connector include the magnetic brakes and dynamic brakes
(external dedicated option for MDS-CH-V1-110 or more). (Unit internal relay specifications: 30VDC-5A/
250VAC-8A)
When
using
CN20
MDS-CH-V1/V2
CN20
3 MBR
2 DBU
1 24VDC
Emergency
Stop switch
24VDC
Always install a surge
absorber
Brake
POINT
To ensure safety in an emergency, make sure that the magnetic brakes are
applied in sequence with the emergency stop switch.
CAUTION
1. Always install a surge absorber near the motor's brake terminal to eliminate
noise and protect the contacts. Refer to section "7-4-3 Surge absorber".
2. The brakes cannot be released just by connecting the CN20 and motor brake
terminal. 24VDC must be supplied.
2 - 26

2. Wiring and Connection
2-9 Wiring of an external emergency stop
2-9-1 External emergency stop setting
Besides the emergency stop input from the NC communication cable (CN1A, CN1B), double-protection
when an emergency stop occurs can be provided by directly inputting an external emergency stop to the
CN23 connector on the power supply unit. Even if the emergency stop is not input from CNC for some
reason, the contactors will be shut off by the external emergency stop input from CN23 connector on the
power supply unit.
Emergency stop
MDS-CH-V1/V2/SP
MDS-CH-CV
Mitsubishi NC
SV1,2
Alarm
SH21
(FCUA-R000)
CN1A
CN1B
CN4
Alarm
SH21
(FCUA-R000)
CN4
TE3
MC1
L11
L21
Contactor shutoff
command
External emergency stop input
(24VDC)
CN23
3 EMG2
2 NC
1 EMG1
No.
SV036
Abbreviation
PTYP
Parameter name
Power supply unit
type
Descriptions
Set the external emergency stop with the PTYP parameter of the drive unit connected
to the power supply unit.
SP041 Setting value External emergency stop invalid
Setting value +40 [hex] External emergency stop valid
Example) For CV-300, change PTYP [30] to PTYP [70].
When connecting with a unit SP370 or above, set bit8 to 1.
CAUTION
The emergency stop signal input to the CNC side cannot be used as a substitute
for the external emergency stop function (CN23).
POINT
1. The parameter must be set for the CN23 external emergency stop function.
2. The emergency stop signal input to the CNC side cannot be used as a
substitute for the external emergency stop function.
2 - 27

2. Wiring and Connection
2-9-2 Operation sequences of CN23 external emergency stop function
If only CN23, an external emergency stop, is input when external emergency stop valid is set in the
parameters (the emergency stop is not input in CNC), an "In external emergency stop" (warning EA) will
be detected. At this time, the system itself does not enter an emergency stop status. (There will be no
deceleration control or dynamic brake stop).
If a contactor shutoff command is not issued from the CNC within 30 seconds after the external
emergency stop is input, the power supply unit itself outputs contactor shutoff signal (MC1), and then it
shuts off the contactors, and an external emergency stop error (alarm 55) is detected. If the emergency
stop is input from CNC within 30 seconds, the warning EA replaces the "In CNC emergency stop"
(warning E7). A normal emergency stop status (warning E7) will result if the contactor shutoff command
from the CNC are further input.
Ready ON is possible even if CN23, an external emergency stop has been input when the emergency
stop is canceled, but an external emergency stop error (alarm 55) will occur after 30 seconds.
CN23
External emergency stop input
(EMGX)
NC
Main emergency stop input
(EMG)
Motor speed
Contactor control command
Contactor control terminal (MC1)
OFF
ON
OFF
ON
0
ON
OFF
ON
OFF
Deceleration control
Drive unit status display
dx
EA
E7
Cx → dx
External emergency stop input sequences
CN23
External emergency stop input
(EMGX)
NC
Main emergency stop input
(EMG)
Motor speed
Contactor control command
Contactor control terminal (MC1)
OFF
ON
OFF
ON
0
ON
OFF
ON
OFF
The communication line enters an
emergency stop state by the output
from the servo.
Dynamic brake
Drive unit status display
dx
EA
55, E7
0 30 Time (s)
When neither a main emergency stop nor contactor shutoff command is input
2 - 28

2. Wiring and Connection
2-9-3 Example of emergency stop circuit
(1) Outline of function
The power supply unit's external emergency stop can be validated by wiring to the CN23 connector,
and setting the parameters and rotary switch. If the emergency stop cannot be processed and the
external contractor cannot be shut off (due to a fault) by the CNC unit, the external contactor can be
shut off by the power supply unit instead of the CNC. At this time, the spindle motor will coast and
the servomotor will stop with the dynamic brakes.
EN60204-1 Category 1 can be basically complied with by installing the external emergency stop
switch and contactor.
CAUTION
1. The power supply unit external emergency stop function is a function that
assists the NC emergency stop.
2. The emergency stop signal input to the CNC side cannot be used as a
substitute for the external emergency stop function (CN23).
3. It will take 30 seconds for the external contactor to function after the
emergency stop is input to CN23. (This time is fixed.)
The emergency stop is a signal used to
stop the machine in an emergency. This
is connected to the CNC unit. Wire to the
power supply unit when necessary.
The servo/spindle unit will be decelerated
and controlled by the software according
to the deceleration stop command issued
from the CNC unit.
External
Emergency
Switch
TM1
R
RA1
R
GND
MBR*
GND
CN23
EMG
Power Supply
Unit
CN4
CUP
&
ASIC
NC Unit
CUP
&
ASIC
SV1/2
Servo/Spindle
Drive Unit
CN4
Hardware Emergency
CN1A/B
Software Emergency
(2) Example of emergency stop circuit
The diagram on the right shows an
example of the emergency stop circuit
(EN60204-1 Category 0 stop) in which an
off delay timer (TM1) is installed as a
power shutoff method independent from
the NC emergency stop input. The required safety category may be high depending on the machine
and the Safety Standards may not be met. Thus, always pay special attention when selecting the
parts and designing the circuit.
MC
External
Contactor
L11
L21
MC1
L1
L2
L3
AC Reactor
MC-OFF*
L11
L21
P
N
CUP
&
ASIC
CN20
MBR*
Motor
Brake
Setting the off delay timer (TM1) time
Set the TM1 operation time so that it functions after it has been confirmed that all axes have
stopped.
If the set time is too short, the spindle motor will coast to a stop.
tm ≥ All axes stop time
Provide a mechanism that shuts off the power even if the CNC system fails.
POINT
Stop Categories in EN60204-1
• Category 0: The power is instantly shut off using machine parts.
• Category 1: The drive section is stopped with the control (hardware/software
or communication network), and then the power is instantly shut
off using machine parts.
(Caution) Refer to the Standards for details.
Refer to Section 9.2.5.4.2 in EN60204-1: Safety of Machinery
Electrical Equipment of Machines – Part 1.
2 - 29

2. Wiring and Connection
2-10 Connecting the Grounding Cable
2-10-1 Connecting the Frame Ground (FG)
Each unit has an FG connection terminal. Please connect an earth wire to the main ground of a cabinet
or a machine frame.
MDS-CH-V1/V2/SP MDS-CH-CV
CH-AL
Grounding
plate
HC-H Series
Servomotor
SJ-4 Series
Servomotor
POINT
Connect the grounding cable from each unit
directly to the grounding plate. Noise from
other units could result in malfunctions.
Unit
Grounding
2-10-2 Grounding cable size
Earth wire size should follow the following table.
Type
MDS-CH-CV Unit
MDS-CH-V1/V2/SP[] Unit
CH-AL (AC Reactor)
Grounding cable size
Same as TE1 (L1/L2/L3)
Same as TE1 (U/V/W)
5.5 mm 2 (AWG10) or more
2 - 30

3. Installation
3-1 Installation of the units ....................................................................................................................... 3-2
3-1-1 Environmental conditions ............................................................................................................ 3-2
3-1-2 Installation direction and clearance............................................................................................. 3-3
3-1-3 Prevention of entering of foreign matter...................................................................................... 3-3
3-1-4 Panel installation hole work drawings (Panel cut drawings) ....................................................... 3-4
3-1-5 Heating value .............................................................................................................................. 3-5
3-1-6 Heat radiation countermeasures ................................................................................................. 3-6
3-2 Installation of servomotor/spindle motor ............................................................................................ 3-7
3-2-1 Environmental conditions ............................................................................................................ 3-7
3-2-2 Cautions for mounting load (prevention of impact on shaft) ....................................................... 3-8
3-2-3 Installation direction..................................................................................................................... 3-8
3-2-4 Tolerable load of axis .................................................................................................................. 3-9
3-2-5 Oil and waterproofing measures ............................................................................................... 3-10
3-2-6 Cable stress .............................................................................................................................. 3-12
3-3 Installing the linear servomotor ........................................................................................................ 3-13
3-3-1 Installation environment ............................................................................................................ 3-13
3-3-2 Installing the linear servomotor ................................................................................................. 3-13
3-3-3 Cooling the linear servomotor ................................................................................................... 3-15
3-4 Noise measures ............................................................................................................................... 3-16
3 - 1

3. Installation
CAUTION
1. Install the unit on noncombustible material. Direct installation on combustible
material or near combustible materials may lead to fires.
2. Follow the instructions in this manual and install the unit while allowing for the
unit weight.
3. Do not get on top of the units or motor, or place heavy objects on the unit.
Failure to observe this could lead to injuries.
4. Always use the unit within the designated environment conditions.
5. Do not let conductive objects such as screws or metal chips, etc., or
combustible materials such as oil enter the units.
6. Do not block the units intake and outtake ports. Doing so could lead to failure.
7. The units and servomotor are precision devices, so do not drop them or apply
strong impacts to them.
8. Do not install or run units or servomotor that is damaged or missing parts.
9. When storing for a long time, please contact your dealer.
3-1 Installation of the units
CAUTION
1. Always observe the installation directions. Failure to observe this could lead to
faults.
2. Secure the specified distance between the units and panel, or between the
units and other devices. Failure to observe this could lead to faults.
3-1-1 Environmental conditions
Environment
Conditions
Ambient temperature 0°C to +55°C (with no freezing)
Ambient humidity 90% RH or less (with no dew condensation)
Storage temperature –15°C to +70°C (with no freezing)
Storage humidity 90% RH or less (with no dew condensation)
Atmosphere
Indoors (Where unit is not subject to direct sunlight)
With no corrosive gas, combustible gas, oil mist or dust
Altitude
Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
Vibration
Operation/storage: 4.9m/s 2 (0.5G) or less
Transportation: 49m/s 2 (5G) or less
Caution) When installing at 1,000m or higher above sea level, the unit's heat dissipation
characteristics will drop as the altitude gets higher.
The upper limit of the ambient temperature drops by 1°C per each 100m increase in
altitude. (The ambient temperature at an altitude of 2000m is 0 to 45°C.).
3 - 2

3. Installation
3-1-2 Installation direction and clearance
Wire each unit in consideration of the maintainability and the heat dissipation, also secure sufficient
space for ventilation.
Do not leave a space between the power supply unit and drive unit when installing.
100mm or
more
Do not leave a space
10mm
or more
10mm
or more
100mm or
more
Wind
passage
70mm
or more
100mm or
more
Panel
100mm or
more
Panel
Wind
passage
CAUTION
The ambient temperature condition for the power supply unit or the drive units is
55°C or less. Because heat can easily accumulate in the upper portion of the
units, give sufficient consideration to heat dissipation when designing the panel.
If required, install a fan in the panel to agitate the heat in the upper portion of the
units.
3-1-3 Prevention of entering of foreign matter
Treat the cabinet with the following items.
• Make sure that the cable inlet is dust and oil proof by using
packing, etc.
• Make sure that the external air does not enter inside by
using head radiating holes, etc.
• Close all clearances.
• Securely install door packing.
• If there is a rear cover, always apply packing.
• Oil will tend to accumulate on the top. Take special
measures such as oil-proofing to the top so that oil does not
enter the cabinet from the screw holds.
• After installing each unit, avoid machining in the periphery. If
cutting chips, etc., stick onto the electronic parts, trouble
may occur.
3 - 3

3. Installation
3-1-4 Panel installation hole work drawings (Panel cut drawings)
Prepare a square hole to match the unit width.
Unit [mm]
60
2-M5 screw 2-M5 screw
2-M5 screw
4-M5 screw
Square
342 360 342
Square
360 342
Square
360 342 Square 360
hole
hole
hole
hole
52
82
112
142
Unit width: 60mm Unit width: 90mm Unit width: 120mm Unit width: 150mm
120
4-M5 screw
180
4-M5 screw
15
180
4-M5
screw
360
4-M10
screw
CV
SP
341
Square
hole
360
341
Square
hole
360
450
Square
hole
Square
hole
480
395.5
34.5
222
282
282
440
Unit width: 240mm
Unit width: 300mm
CV-750 and SP-750
POINT
1. The 75kW spindle drive unit is always installed to the right of the 75kW power
supply unit with no space between. When using the enclosed bar (for L+/L–
connection fitting), leave 34.5mm open between the CV and SP square
holes. Other units cannot be connected together. (Enclosed bar:
C352D058 ... Refer to section 2-5.)
2. Always install the 37kW to 55kW spindle drive units to the left of the power
supply unit with no space between.
3. A TE2-1 terminal (L+/L–) connection fitting is enclosed with the 45kW and
higher power supply units.
4. Install the power supply unit and drive unit with no space between.
3 - 4

3. Installation
3-1-5 Heating value
Each heating value is calculated with the following values.
The value for the spindle drive unit includes the continuous rated output, the value for the servo drive
unit includes the rated output, and the value for the power supply unit includes the AC reactor's heating
value.
Type
MDS-CH- Inside
panel
Heating amount
[W] Type
Outside
panel
MDS-CH- Inside
panel
Heating amount
[W]
Outside
panel
Type
MDS-CH- Inside
panel
Heating
amount [W]
Outside
panel
Type
MDS-CH- Inside
panel
Heating amount
[W]
Outside
panel
CV-37 34 21 SP[]-15 20 50 V1-05 11 25 V2-0505 22 50
CV-55 35 30 SP[]-37 50 54 V1-10 18 41 V2-1005 29 66
CV-75 38 43 SP[]-55 55 88 V1-20 28 76 V2-1010 35 82
CV-110 44 81 SP[]-75 61 121 V1-35 35 115 V2-2010 44 134
CV-150 49 106 SP[]-110 70 170 V1-45 44 164 V2-2020 47 155
CV-185 55 140 SP[]-150 81 231 V1-70 60 258 V2-3510 49 166
CV-220 57 153 SP[]-185 102 353 V1-90 68 302 V2-3520 53 189
CV-260 65 196 SP[]-220 107 380 V1-110 76 327 V2-3535 61 232
CV-300 74 247 SP[]-260 131 513 V1-150 95 455 V2-4520 62 238
CV-370 86 315 SP[]-300 158 668 VI-185 225 575 V2-4535 69 276
CV-450 148 353 SP[]-370 306 797
CV-550 173 428 SP[]-450 355 945
CV-750 235 615 SP[]-550 420 1140
SP[]-750 566 1579
POINT
Design the panel's heating value taking the actual axis operation (load rate) into
consideration. With a general machine tool, the servo drive unit's load rate is
approx. 50%, so the heating values inside the panel are half the values shown
above. (Excluding the power supply and spindle drive unit.)
(Example 1)
When using MDS-CH-CV-260, MDS-CH-SP[]-185 and MDS-CH-V2-3535
Total heating value = (65 + 196) + (102 + 353) + (61 + 232) = 1009 [W]
Heating value in panel = (65) + (102) + (61 × 0.5) = 197.5 [W]
3 - 5

3. Installation
3-1-6 Heat radiation countermeasures
In order to secure reliability and life, design the temperature in the panel so that the ambient
temperature of each unit is 55°C or less.
If heat accumulates at the top of the unit, etc., install a fan so that the temperature in the panel remains
constant.
Please refer to following method for heat radiation countermeasures.
Calculate total heat radiation of each
mounted unit (W)
Calculate cabinet’s cooling capacity
(W1)
(1) Average temperature in cabinet : T ≤ 55°C
(2) Cabinet peripheral temperature : Ta ≤ 0°C to 45°C
(3) Internal temperature rise value : ∆T = T–Tamax
= 10°C
W ≤ W1
∆T≤10°C
Comparison of W and W1
Selection of heat exchanger
Mounting design
Collection of internal temperature rise
distribution data
Evaluation
∆T>10°C
Improvements
Completion
W>W1
1) Refer to Specifications Manual, etc. for the heat
generated by each unit.
2) Enclosed cabinet (thin steel plate) cooling capacity
calculation equation
W1 = U × A × ∆T
U: 6W/m 2 × °C (with internal agitating fan)
4W/m 2 × °C (without internal agitating fan)
A: Effective heat radiation area (m 2 )
(Heat dissipation area in panel)
Sections contacting other objects are excluded.
∆T: Internal temperature rise value (10°C)
3) Points of caution for heat radiation countermeasures
when designing mounting state
• Layout of convection in panel
• Collect hot air at suction port in heat exchanger
cabinet.
4) Understanding the temperature rise distribution in the
panel
∆T (average value) ≤ 10°C
∆Tmax (maximum value) ≤ 15°C
R (inconsistency ∆Tmax – ∆Tmin) ≤ 6°C
(Evaluate existence of heat spots)
Examples of mounting and temperature measurement positions (reference)
• Measurement position (example)
Relay, etc.
Flow of
air
Heat
exchanger
Unit
Flow of air
3 - 6

3. Installation
3-2 Installation of servomotor/spindle motor
CAUTION
1. Do not hold the cables, axis or detector when transporting the motor. Failure to
observe this could lead to faults or injuries.
2. Securely fix the motor to the machine. Insufficient fixing could lead to the
motor deviating during operation. Failure to observe this could lead to
injuries.
3. When coupling to a servomotor shaft end, do not apply an impact by
hammering, etc. The detector could be damaged.
4. Never touch the rotary sections of the motor during operations. Install a
cover, etc., on the shaft.
5. Do not apply a load exceeding the tolerable load onto the servomotor shaft.
The shaft could break.
6. Do not connect or disconnect any of the connectors while the power is ON.
3-2-1 Environmental conditions
Environment
Conditions
Ambient temperature 0°C to +40°C (with no freezing)
Ambient humidity 20% to 90%RH or less (with no dew condensation)
Storage temperature –20°C to +65°C (with no freezing)
Storage humidity 20% to 90%RH or less (with no dew condensation)
Atmosphere
Altitude
Vibration
• Indoors (Where unit is not subject to direct sunlight)
• No corrosive gases, flammable gases, oil mist or dust
Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
X: 19.6m/s
HC-H Series (Servomotor)
2 (2G)
Y: 19.6m/s 2 (2G)
SJ Series (Spindle motor) Refer to each specifications.
Refer to section "3-3 Installing the linear servomotor" for the linear servomotor's environmental
conditions.
The vibration conditions are as shown below.
200
Servomotor
Vibration amplitude
(double-sway width) (µm)
100
80
60
50
40
30
20
X
Acceleration
Y
0
1000 2000 3000
Speed (r/min)
Refer to each spindle motor specifications for details on the spindle motor vibration conditions.
3 - 7

3. Installation
3-2-2 Cautions for mounting load (prevention of impact on shaft)
When using the servomotor with key way, use the
screw hole at the end of the shaft to mount the pulley
onto the shaft. To install, first place the double-end
Servomotor
stud into the shaft screw holes, contact the coupling
end surface against the washer, and press in as if
tightening with a nut. When the shaft does not have a
key way, use a frictional coupling, etc.
When removing the pulley, use a pulley remover, and
make sure not to apply an impact on the shaft.
Pulley
Install a protective cover on the rotary sections such
as the pulley installed on the shaft to ensure safety.
The direction of the detector installed on the servomotor cannot be changed.
Double-end stud
Nut
Washer
CAUTION
Never hammer the end of the shaft
during assembly.
3-2-3 Installation direction
There are no restrictions on the installation direction. Installation in any
direction is possible, but as a standard the motor is installed so that the
motor power line and detector cable cannon plugs (lead-in wires) face
downward. Installation in the standard direction is effective against
dripping. Measure to prevent oil and water must be taken when not
installing in the standard direction. When the motor is not installed in
the standard direction, refer to section "3-2-5 Oil and waterproofing
measures" and take the appropriate measures.
The brake plates may make a sliding sound when a servomotor with
magnetic brake is installed with the shaft facing upward, but this is not
a fault.
Up
Down
Standard installation
direction
3 - 8

3. Installation
3-2-4 Tolerable load of axis
There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the
radial direction and thrust direction, when mounted on the machine, is below the tolerable values given
below. These loads also affect the motor output torque, so consider them when designing the machine.
Servomotor
During operation
Tolerable radial load Tolerable thrust load
HC-H52T, 53T, 102T, 103T, 152T, 153T
(Taper shaft)
392N (L=52.7) 490N
HC-H52S, 53S, 102S, 103S, 152S, 153S
(Straight shaft)
980N (L=52.7) 490N
HC-H202S, 203S, 352S, 353S, 452S, 453S
(Straight shaft)
1500N (L=52.7)
490N
HC-H702S, 703S (Straight shaft) 1300N (L=52.7) 590N
HC-H902S, 903S (Straight shaft) 2500N (L=52.7) 1100N
HC-H1102S, 1103S (Straight shaft) 2700N (L=52.7) 1500N
Caution: The symbols in the table follow the drawing below.
L
Radial load
Thrust load
L : Length from flange installation surface to center of load weight [mm]
CAUTION
1. Use a flexible coupling when connecting with a ball screw, etc., and keep the
shaft core deviation to below the tolerable radial load of the shaft.
2. When directly installing the gear on the motor shaft, the radial load increases
as the diameter of the gear decreases. This should be carefully considered
when designing the machine.
3. When directly installing the pulley on the motor shaft, carefully consider so
that the radial load (double the tension) generated from the timing belt
tension is less than the values shown in the table above.
4. In machines where thrust loads such as a worm gear are applied, carefully
consider providing separate bearings, etc., on the machine side so that loads
exceeding the tolerable thrust loads are not applied to the motor.
5. Do not use a rigid coupling as an excessive bending load will be applied on
the shaft and could cause the shaft to break.
3 - 9

3. Installation
3-2-5 Oil and waterproofing measures
A format based on IEC Standards (IP types) is displayed as the motor
protective format (refer to "10-2-1 Specifications list."). However, these
Standards are short-term performance specifications. They do not
guarantee continuous environmental protection characteristics.
Measures such as covers, etc., must be provided if there is any
possibility that oil or water will fall on the motor, or the motor will be
constantly wet and permeated by water. Note that the motor’s IP-type
is not indicated as corrosion-resistant.
Servomotor
Oil or water
When a gear box is installed on the servomotor, make sure that the oil level height from the center
of the shaft is higher than the values given below. Open a breathing hole on the gear box so that the
inner pressure does not rise.
Servomotor
Oil level (mm)
HC-H52, 53, 102, 103, 152, 153 20
HC-H202, 203, 352, 353 25
HC-H452, 453, 702, 703 25
HC-H902, 903, 1102, 1103 30
Oil level
Gear
Lip
V-ring
Servomotor
When installing the servomotor horizontally, set the power cable and detector cable to face
downward.
When installing vertically or on an inclination, provide a cable trap.
Cable trap
CAUTION
1. The servomotors, including those having IP65 and IP67 specifications, do not
have a completely waterproof (oil-proof) structure. Do not allow oil or water to
constantly contact the motor, enter the motor, or accumulate on the motor. Oil
can also enter the motor through cutting chip accumulation, so be careful of
this also.
2. When the motor is installed facing upwards, take measures on the machine
side so that gear oil, etc., does not flow onto the motor shaft.
3. Do not remove the detector from the motor. (The detector installation screw is
treated for sealing.)
3 - 10

3. Installation
Do not use the unit with the cable submerged in oil or
water.
(Refer to right drawing.)
Cover
Servomotor
Oil or water pool
Capillary tube Phenomenon
Make sure that oil and water do not flow along the cable
into the motor or detector. (Refer to right drawing.)
Cover
Servomotor
Respiration
When installing on the top of the shaft end, make sure
that oil from the gear box, etc., does not enter the
servomotor. The servomotor does not have a
waterproof structure.
Gear
Lubricating oil
Servomotor
3 - 11

3. Installation
3-2-6 Cable stress
Sufficiently consider the cable clamping method so that bending stress and the stress from the
cable's own weight is not applied on the cable connection part.
In applications where the servomotor moves, make sure that excessive stress is not applied on the
cable.
If the detector cable and servomotor wiring are stored in a cable bear and the servomotor moves,
make sure that the cable bending part is within the range of the optional detector cable.
Fix the detector cable and power cable enclosed with the servomotor.
Make sure that the cable sheathes will not be cut by sharp cutting chips, worn, or stepped on by
workers or vehicles.
The bending life of the detector cable is as shown below. Regard this with a slight allowance. If the
servomotor/spindle motor is installed on a machine that moves, make the bending radius as large
as possible.
1 10 8
5 10 7
2 10 7
1 10 7
No. of bends (times)
5 10 6
2 10 6
1 10 6
TS-91026
5 10 5
2 10 5
A14B2343
1 10 5
5 10 4 4 7 10 20 40 70 100 200
Bending radius (mm)
3 10 4
Detector cable bending life
Note: The values in this graph are calculated values and are not guaranteed.
The oil resistance characteristics are given below. Note that these values are not guaranteed for all
types of oils.
Item
Characteristics
Tensile strength 65% or more of value before immersion in oil
Oil
resistance
Sheath
Elongation
Oil resistance conditions
The detector cable sheath is made of flame retardant PVC.
65% or more of value before immersion in oil
70°C for four hours (JIS C 2320 Class 1 No. 2
insulation oil)
3 - 12

3. Installation
3-3 Installing the linear servomotor
CAUTION
1. Securely fix the linear servomotor onto the machine. Incomplete fixing could
cause the servomotor to come off during operation, and lead to injuries.
2. The connectors, cooling ports, etc., cannot be repaired or replaced. The
entire servomotor must be replaced, so take special care when handling.
3. Use nonmagnetic tools during installation.
4. An attraction force is generated in the magnetic body by the secondary side
permanent magnet. Take care not to catch fingers or hands. Take special
care when installing the primary side after the secondary side.
5. Install the counterbalance for the vertical axis and the holding brakes on the
machine side. The balance weight cannot track at 9.8m/s 2 or more, so use a
pneumatic counterbalance, etc., having high trackability.
6. Always install an electrical and mechanical stopper at the stroke end.
7. Take measure to prevent metal cutting chips from being attracted to the
secondary side permanent magnet.
8. Oil-proofing and dust-proofing measures must be provided for the linear
scale.
3-3-1 Installation environment
Environment
Conditions
Ambient temperature 0°C to 40°C (with no freezing)
Ambient humidity 80% RH or less (with no dew condensation)
Storage temperature –15°C to 50°C (with no freezing)
Storage humidity 90% RH or less (with no dew condensation)
Atmosphere
Indoors (Where unit is not subject to direct sunlight)
With no corrosive gas, flammable gas or dust
Vibration
4.9m/s 2 or less
3-3-2 Installing the linear servomotor
(1) Installing the primary side
Dimensions for tie-in with secondary side
Center of primary side
0.5[mm] or less
H ± 0.1[mm]
A
0.1 A
0.1
0.1
Center of secondary side
Caution: H dimensions = (primary side height dimensions) + (secondary side height dimensions)
+ (clearance length: 0.5[mm]).
3 - 13

3. Installation
Example of installation procedures
An example of the installation procedures is shown below.
Step 2
Install the primary side on the position where there is no secondary side
Step 1
Install the secondary side (1 part)
Step 4
Install the remaining secondary side
Step 3
Move over to the secondary side where the
primary side is installed.
CAUTION
1. Installing the primary side on the position where there is no secondary side,
as shown above, is recommended to avoid risks posed by the attraction force
of the permanent magnet between the primary side and secondary side.
2. If the primary side must be installed over the secondary side, use a material
handling device, such as a crane, which can sufficiently withstand the load
such as the attraction force.
3. Note that an attraction force will be generated even after the primary side has
been installed and is moved over to the secondary side.
POINT
1. Keep the moving sections (primary side) as light as possible, and the base
section (secondary side) as heavy and rigid as possible.
2. Make the machine's rigidity as high as possible.
3. Securely fix the base section (secondary side) onto the foundation with
anchor bolts.
4. Keep the primary resonance frequency of the entire machine as high as
possible. (Should be 200Hz or more.) Install the servomotor so that the thrust
is applied on the center of the moving sections. If the force is not applied on
the center of the moving parts, a moment will be generated.
5. Use an effective cooling method such as circulated cooling oil.
6. Select a motor capacity that matches the working conditions.
7. Create a mechanism that can withstand high speeds and high acceleration/
deceleration.
3 - 14

3. Installation
(2) Installing the secondary side
Direction
When using multiple secondary sides, lay the units out so that the nameplates on the products all
face the same direction in order to maintain the pole arrangement.
Rating nameplate
Procedures
Install with the following procedure to eliminate clearances between the secondary sides.
Step 2.
Fix with bolt.
Step 1.
Press against.
Secondary side used as
installation reference
CAUTION
1. Use nonmagnetic tools when installing the secondary side.
2. When placing the secondary side onto the installation surface, use the
screws on the product, and suspend with eye bolts, etc.
3. If the secondary side is already installed and another secondary side is being
added, place the secondary side away from the side already installed, and
then slide the additional secondary side to the specific position.
3-3-3 Cooling the linear servomotor
(1) A cooling pipe is embedded on the primary side of the linear servomotor. Flow at least 5 liters of
cooling oil per minute.
(2) When using with natural cooling, the continuous rating will be dropped to 50% compared to when
using cooling oil.
3 - 15

3. Installation
3-4 Noise measures
Noise includes "propagation noise" generated from the power supply or relay, etc., and propagated
along a cable causing the power supply unit or drive unit to malfunction, and "radiated noise"
propagated through air from a peripheral device, etc., and causing the power supply unit or drive unit to
malfunction.
Always implement these noise measures to prevent the peripheral devices and unit from malfunctioning.
The measures differ according to the noise propagation path, so refer to the following explanation and
take appropriate measures.
(1) Mandatory noise measures
• Accurately ground all of the cables connected to this unit and requiring shielding treatment with
clamp fittings. (The communication cable connected to the NC can be grounded with one clamp
fitting on the NC side. However, the communication cables connected between each drive unit
are not required to ground with the clamp fitting.)
Make sure that the detector cable or the signal wire (FG wire) for the communication cable to the
NC is accurately grounded to the connector shell section.
• Do not lay the "drive unit input/output power wire" and "signal wires" bundled in a parallel state.
Always separate these wires.
• Use one-point grounding for the drive unit and motor.
(Refer to section "2-10 Wiring the grounding cable.)
• Accurately ground the AC reactor using the FG terminal on the terminal block in addition to the PE
terminal on the body.
• Install a surge killer on devices (magnetic contactor, relay, etc.) that generate high levels of noise.
• Accurately ground all of the detector cables with clamp fittings.
(The FG wire to the connector shell must also be grounded.)
• Always take the measures given in "Appendix 2 EMC Installation Guidelines" for the European
EMC Directives.
(2) Propagation noise measures
Always take the following measures when noise generating devices are installed near this unit.
• Install a power line filter in the stage before the power supply unit.
• Install a ferrite core on the signal wire.
• Wire the spindle PLG detector cable away from other wires.
(3) Measures against radiated noise
The types of propagation paths of the noise and the noise measures for each propagation path are
shown below.
Noise generated
from drive unit
Airborne
propagation noise
Noise directly radiated
from drive unit
Path
Magnetic
induction noise
Path
and
Noise radiated from
power line
Path
Static induction
noise
Path
Noise radiated from
servomotor/spindle
motor
Path
Cable propagation
noise
Noise propagated over
power line
Path
Noise lead in from
grounding wire by
leakage current
Path
3 - 16

3. Installation
Example) Drive system
Instrument
Receiver
Drive
unit
Sensor
power
supply
Sensor
Servomotor
Spindle motor
M
Noise
propagation
path
Measures
When devices such as instrument, receiver or sensor, which handle minute signals
and are easily affected by noise, or the signal wire of these devices, are stored in
the same panel as the drive units and the wiring is close, the device could
malfunction due to airborne propagation of the noise. In this case, take the following
measures.
(1) Install devices easily affected as far away from the drive units as possible.
(2) Lay devices easily affected as far away from the signal wire of the drive unit as
possible.
(3) Do not lay the signal wire and power line in parallel or in a bundled state.
(4) Insert a line noise filter on the input/output wire to suppress noise radiated from
the wires.
(5) Use a shield wire for the signal wire and power line, or place in separate metal
ducts.
If the signal wire is laid in parallel to the power line, or if it is bundled with the power
line, the noise could be propagated to the signal wire and cause malfunction
because of the magnetic induction noise or static induction noise. In this case, take
the following measures.
(1) Install devices easily affected as far away from the drive unit as possible.
(2) Lay devices easily affected as far away from the signal wire of the drive unit as
possible.
(3) Do not lay the signal wire and power line in parallel or in a bundled state.
(4) Use a shield wire for the signal wire and power line, or place in separate metal
ducts.
If the power supply for the peripheral devices is connected to the power supply in
the same system as the drive units, the noise generated from the power supply unit
could back flow over the power line and cause the devices to malfunction. In this
case, take the following measures.
• Install a power line filter on the power supply unit's power line.
If a closed loop is created by the peripheral device and drive unit grounding wire, the
noise current could be fed back causing the device to malfunction. In this case,
change the device grounding methods and the grounding place.
3 - 17

4. Setup
4-1 Initial setup........................................................................................................................................ 4-2
4-1-1 Setting the rotary switch ............................................................................................................ 4-2
4-1-2 Transition of LED display after power is turned ON .................................................................. 4-3
4-2 Servo drive unit initial parameter settings ........................................................................................ 4-4
4-2-1 List of servo parameters ............................................................................................................ 4-4
4-2-2 Limitations to electronic gear setting value.............................................................................. 4-19
4-2-3 Setting excessive detection error width ................................................................................... 4-19
4-2-4 Setting motor and detector model............................................................................................ 4-20
4-2-5 Setting servo specifications ..................................................................................................... 4-21
4-2-6 Initial setup of the linear servo system..................................................................................... 4-22
4-2-7 Standard parameter list according to motor ............................................................................ 4-31
4-3 Spindle drive unit initial parameter settings.................................................................................... 4-33
4-3-1 List of spindle parameters........................................................................................................ 4-33
4-3-2 Details of bit-corresponding parameters..................................................................................4-50
4-3-3 Setting spindle drive unit and motor model ............................................................................. 4-54
4-3-4 Spindle specification parameters screen................................................................................. 4-55
4-3-5 Spindle control signals............................................................................................................. 4-58
4 - 1

4. Setup
4-1 Initial setup
Check the combination of the drive unit and motor connected.
The linear servomotor can be driven with the MDS-CH-V1 Series software version "BND-583W000-B0"
and higher.
4-1-1 Setting the rotary switch
Before turning on the power, the axis No. must be set with the rotary switch. The rotary switch settings
will be validated when the units are turned ON.
(1) Setting the power supply unit
7 8 9 4 56 A BCD
3
2
1
0
E
F
SW1
With contactor
0
(melting detection)
1 With no contactor
2
3
With contactor
4
(melting detection)
5 With no contactor
6
7
8
9
A
B
C
D
E
F
MDS-CH-CV setting
Setting prohibited
Setting prohibited
External emergency
stop (Not used CN23)
External emergency
stop (Used CN23)
(2) Setting the servo/spindle drive unit
7 8 9
4 56 A 7 8 9 BCD
4 56 A BCD
3
3
2
1 E
0 F
2
1 E
0 F
When MDS-CH-V2 Series are used
Rotary switch
setting
Set axis No.
0 1st axis
1 2nd axis
2 3rd axis
3 4th axis
4 5th axis
5 6th axis
6 7th axis
7
8
9
A
B
C
D
E
F
Not usable
Axis not used
POINT
When an axis that is not used is selected, that axis will not be controlled when
the power is turned ON, and "Ab" will remain displayed on the LED. If the power
of the axis not in use is disconnected, the NC system's emergency stop cannot
be released.
4 - 2

4. Setup
4-1-2 Transition of LED display after power is turned ON
When CNC, each drive unit and the power supply unit power have been turned ON, each unit will
automatically execute self-diagnosis and initial settings for operation, etc. The LEDs on the front of the
units will change as shown below according to the progression of these processes.
If an alarm occurs, the alarm No. will appear on the LEDs. Refer to "Chapter 8 Troubleshooting" for
details on the alarm displays.
Drive units
Power supply unit
Waiting for NC
power start up
NC power ON
LED display
Drive unit initialization complete
Waiting for NC power start up
NC power ON
LED display
NC power
ON
Executing initial
communication with NC
Executing initial communication
with NC
A : Initializing
b : Ready OFF, in emergency stop
c : Ready ON/servo OFF
Servo ON state
Emergency stop state
The LED will alternate between
F# → E7 → not lit.
(# is the set axis No.)
Servo OFF sate
Servo ON state
Emergency stop state
NC power OFF
Repeats lighting and going out.
(1st axis in the display example)
4 - 3

4. Setup
4-2 Servo drive unit initial parameter settings
Refer to each CNC instruction manual for details on the operation methods and system specification
parameter settings.
4-2-1 List of servo parameters
No. Abbrev. Parameter name Explanation
SV001
SV002
PC1*
PC2*
Motor side gear
ratio
Machine side gear
ratio
SV003 PGN1 Position loop gain 1
SV004 PGN2 Position loop gain 2
SV005 VGN1 Speed loop gain 1
SV006 VGN2 Speed loop gain 2
SV007
SV008
VIL
VIA
Speed loop delay
compensation
Speed loop lead
compensation
Setting
range (Unit)
Set the motor side and machine side gear ratio.
For the rotary axis, set the total deceleration (acceleration) ratio.
1 to 32767
Even if the gear ratio is within the setting range, the electronic gears may
overflow and cause an alarm. 1 to 32767
Set the position loop gain. The standard setting is “33”.
The higher the setting value is, the more precisely the command can be
followed and the shorter the positioning time gets, however, note that a
bigger shock is applied to the machine during acceleration/deceleration.
When using the SHG control, also set SV004 (PGN2) and SV057 (SHGC).
(If “201” or bigger is set, the SHG control cannot be used.)
When using the SHG control, also set SV003 (PGN1) and SV057 (SHGC).
When not using the SHG control, set to “0”.
Set the speed loop gain.
Set this according to the load inertia size.
The higher the setting value is, the more accurate the control will be,
however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The value should be determined to be 70 to 80% of the value at the time
when the vibration stops.
If the noise is bothersome at high speed
during rapid traverse, etc, lower the speed
loop gain.
As in the right figure, set the speed loop
gain of the speed 1.2 times as fast as the
motor’s rated speed, and use this with
SV029 (VCS).
When not using, set to “0”.
VGN1
VGN2
0
VCS
VLMT
(Rated speed*1.2)
Set this when the limit cycle occurs in the full-closed loop, or overshooting
occurs in positioning.
Select the control method with SV027 (SSF1)/bit1, 0 (vcnt).
Normally, use “Changeover type 2”.
When you set this parameter, make sure to set the torque offset (SV032
(TOF)). When not using, set to “0”.
No changeover
When SV027 (SSF1)/ bit1, 0 (vcnt)=00
The delay compensation control is always valid.
Changeover type 1
When SV027 (SSF1)/ bit1, 0 (vcnt)=01
The delay compensation control works when the command from the NC
is “0”.
Overshooting that occurs during pulse feeding can be suppressed.
Changeover type 2
When SV027 (SSF1)/ bit1, 0 (vcnt)=10
The delay compensation control works when the command from the NC
is “0” and the position droop is “0”. Overshooting or the limit cycle that
occurs during pulse feeding or positioning can be suppressed.
Set the gain of the speed loop integration control.
The standard setting is “1364”. During the SHG control, the standard
setting is “1900”. Adjust the value by increasing/decreasing it by about
100 at a time.
Raise this value to improve contour tracking precision in high-speed
cutting. Lower this value when the position droop vibrates (10 to 20Hz).
1 to 200
(rad/s)
0 to 999
(rad/s)
1 to 10000
-1000 to
1000
0 to 32767
1 to 9999
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
4 - 4

4. Setup
No. Abbrev. Parameter name Explanation
SV009
SV010
SV011
SV012
IQA
IDA
IQG
IDG
Current loop q axis
lead compensation
Current loop d axis
lead compensation
Current loop q axis
gain
Current loop d axis
gain
SV013 ILMT Current limit value
SV014
SV015
SV016
ILMTsp
FFC
LMC1
Current limit value in
special control
Acceleration rate
feed forward gain
Lost motion
compensation 1
Set the gain of current loop.
As this setting is determined by the motor’s electrical characteristics, the
setting is fixed for each type of motor.
Set the standard values for all the parameters depending on each motor
type.
Set the normal current (torque) limit value. (Limit values for both + and -
direction.)
When the value is “500” (a standard setting), the maximum torque is
determined by the specification of the motor.
Set the current (torque) limit value in a special control (initial absolute
position setting, stopper control, etc). (Limit values for both of the + and -
directions.)
Set to “500” when not using.
When a relative error in the synchronous control is large, apply this
parameter to the axis that is delaying. The standard setting value is “0”.
For the SHG control, set to “100”.
To adjust a relative error in acceleration/deceleration, increase the value by
50 to 100 at a time.
Set this when the protrusion (that occurs due to the non-sensitive band by
friction, torsion, backlash, etc) at quadrant change is too large.
This compensates the torque at quadrant change.
This is valid only when the lost motion compensation (SV027 (SSF1/lmc))
is selected.
Type 1: When SV027 (SSF1)/bit9, 8 (lmc)=01
Set the compensation amount based on the motor torque before the
quadrant change.
The standard setting is “100”. Setting to “0” means the compensation
amount is zero.
Normally, use Type 2.
Type 2: When SV027 (SSF1)/bit9, 8 (lmc)=10
Set the compensation amount based on the stall (rated) current of the
motor.
The standard setting is double of the friction torque. Setting to “0”
means the compensation amount is zero.
When you wish different compensation amount depending on the direction
When SV041 (LMC2) is “0”, compensate with the value of SV016
(LMC1) in both of the + and -directions.
If you wish to change the compensation amount depending on the
command direction, set this and SV041 (LMC2). (SV016: + direction,
SV041: - direction. However, the directions may be opposite
depending on other settings.)
When “-1” is set, the compensation won’t be performed in the direction of
the command.
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
Setting
range (Unit)
1 to 20480
1 to 4096
In case of
MDS-B-Vx4,
1 to 8192
0 to 999
(Stall
[rated]
current %)
0 to 999
(Stall
[rated]
current %)
0 to 999
(%)
-1 to 200
(%)
-1 to 100
(Stall
[rated]
current %)
4 - 5

4. Setup
No. Abbrev. Parameter name Explanation
Setting
range (Unit)
HEX setting
F E D C B A 9 8 7 6 5 4 3 2 1 0
spm drvall drvup mpt3 mp abs vdir fdir vfb seqh dfbx fdir2
bit Meaning when “0” is set Meaning when “1” is set
0 fdir2 Speed feedback forward polarity Speed feedback reverse polarity
1 dfbx Dual feedback control stop Dual feedback control start
2
3 vfb
Speed feedback filter stop
Speed feedback filter stop
(2250Hz)
4 fdir Position feedback forward polarity Position feedback reverse polarity
5
SV017
SPEC*
Servo specification
selection
6
7 abs Incremental control Absolute position control
8 mp MP scale 360P (2mm pitch) MP scale 720P (1mm pitch)
9 mpt3
MP scale ABS detection NC
control
MP scale ABS detection
automatic (Standard swetting)
A
B
C
D
E
spm
2 : Rotary servomotor
8 : Linear servomotor
All other setting values are prohibited
F
(Note 1) Set to “0” for bits with no particular description.
SV018
PIT*
Ball screw pitch
Pole pitch
Set the ball screw pitch. Set to “360” for the rotary axis.
Set the pole pitch when using the linear servomotor.
1 to 32767
(mm/rev)
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
4 - 6

4. Setup
No. Abbrev. Parameter name Explanation
SV019
RNG1*
Position detector
resolution
In the case of the semi-closed loop control
Set the same value as SV020 (RNG2). (Refer to the explanation of
SV020.)
In the case of the full-closed loop control
Set the number of pulses per ball screw pitch.
Detector model name Resolution SV019 setting
OHE25K-ET, OHA25K-ET 100,000 (p/rev) 100
OSE104-ET,OSA104-ET 100,000 (p/rev) 100
OSE105-ET,OSA105-ET 1,000,000 (p/rev) 1000
RCN723 (Heidenhain) 8,000,000 (p/rev) 8000
Relative position
detection scale
AT41 (Mitsutoyo)
FME type, FLE type
(Futaba)
MP type (Mitsubishi
Heavy Industries)
AT342 (Mitsutoyo)
AT343 (Mitsutoyo)
AT543 (Mitsutoyo)
LC191M (Heidenhain)
LC491M (Heidenhain)
MDS-B-HR
Refer to specification
manual for each detector
1 (m/p)
Refer to specification
manual for each detector
Refer to specification
manual for each detector
0.5 (m/p)
0.05 (m/p)
0.05 (m/p)
Refer to specification
manual for each detector.
Refer to specification
manual for each detector.
Analog cycle/500
PIT/Resolution
(m)
The same as
SV018 (PIT)
PIT/Resolution
(m)
PIT/Resolution
(m)
Twice as big as
SV018 (PIT)
20 times as big
as SV018 (PIT)
PIT/Resolution
(m)
PIT/Resolution
(m)
PIT/Resolution
(m)
PIT/Resolution
(m)
Setting range
(Unit)
1 to 9999
(kp/rev)
1 to 9999
(kp/pit)
For linear servomotor control
Set the number of pulses (K pulses) per pole pitch.
(Set the same value for SV020: RNG2.)
AT342 LC191M HR + relative position detector HR + AT342
120 600 or 1200 PIT/Resolution (m) 1500
1 to 9999
(kp/pit)
SV020
RNG2*
Speed detector
resolution
Note) The above value applies for the linear servomotor with 60mm
pole pitch.
Set the number of pulses per one revolution of the motor side detector.
Detector model name
SV020 setting
OSE104, OSA104 100
OSE105, OSA105 1000
1 to 9999
(kp/rev)
SV021
SV022
SV023
SV024
OLT
OLL
OD1
INP
Overload detection
time constant
Overload detection
level
Excessive error
detection width
during servo ON
In-position
detection width
Set the same value as SV019: RNG1 when using linear servomotor
control.
Set the detection time constant of Overload 1 (Alarm 50).
Set to “60” as a standard. (For machine tool builder adjustment.)
Set the current detection level of Overload 1 (Alarm 50) in respect to the
stall (rated) current.
Set to “150” as a standard. (For machine tool builder adjustment.)
Set the excessive error detection width when servo ON.
OD1=OD2=
Rapid traverse rate
(mm/min)
60*PGN1
/2 (mm)
When “0” is set, the excessive error detection will not be performed.
Set the in-position detection width.
Set the accuracy required for the machine.
The lower the setting is, the higher the positioning accuracy gets, however,
the cycle time (setting time) becomes longer. The standard setting is “50”.
1 to 999
(s)
110 to 500
(Stall [rated]
current %)
0 to 32767
(mm)
0 to 32767
(m)
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
4 - 7

4. Setup
No. Abbrev. Parameter name Explanation
HEX setting
F E D C B A 9 8 7 6 5 4 3 2 1 0
pen ent mtyp
bit
Explanation
0 Set the motor type. Set this along with SV017 (SPEC)/spm.
1 1) When SV017/spm=2 (Rotary servomotor)
2 Setting 0x 1x 2x 3x 4x 5x 6x 7x
3 x0
4 mtyp x1
5 x2
6 x3
7 x4
x5
x6
x7
x8
x9
xA
xB
xC
xD
xE
xF
SV025
MTYP* Motor/Detector type
Setting 8x 9x Ax Bx Cx Dx Ex Fx
x0 HC-H52 HC-H53
x1 HC-H102 HC-H103
x2 HC-H152 HC-H153
x3 HC-H202 HC-H203
x4 HC-H352 HC-H353
x5 HC-H452 HC-H453
x6 HC-H702 HC-H703
x7 HC-H902 HC-H903
x8 HC-H1102 HC-H1103
x9 HC-H1502
xA
xB
xC
xD
xE
xF
2) When SV017/spm=8 (Linear servomotor)
Setting 0x 1x 2x 3x 4x 5x 6x 7x
x0
x1
x2
x3
x4
x5
x6
x7
x8
x9
xA
xB
xC
xD
xE
xF
LM-NP5G-60P
(Natural cooling)
LM-NP5G-60P
(Oil cooled)
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
4 - 8

4. Setup
No. Abbrev. Parameter name Explanation
8
9
A
B
ent
Setting range
(Unit)
HEX setting
Set the detector type.
Set the position detector type for “pen”, and the speed detector type
for “ent”. In the case of the semi-closed loop control, set the same
value for “pen” and “ent”.
C
pen
setting
ent setting
Detector model name
D 0 0 OSE104
E pen 1 1 OSA104
F 2 2 OSE105, OSA105
3 3
4 Setting impossible OHE25K-ET, OSE104-ET
5 Setting impossible OHA25K-ET, OSA104-ET
6
OSE105-ET, OSA105-ET, RCN723
Setting impossible
(Heidenhain)
7 Setting impossible
8
Relative position detection scale, MP type
Setting impossible
(Mitsubishi Heavy Industries)
SV025 MTYP* Motor/Detector type 9
AT41 (Mitsutoyo), FME type, FLE type
Setting impossible
(Futaba)
A
A
AT342, AT343, AT543 (Mitsutoyo),
LC191M/491M (Heidenhain), MDS-B-HR
B Setting impossible
C -
For semi-closed speed synchronization
C
C
(Current
synchronization)
setting
The setting of the slave axis in the speed/current
synchronization control.
When the master axis is the semi-closed control.
D - For closed-loop speed control
D
A
Settings for slave axis in 2-scale 2-linear
servomotor system (Using CN3 connector)
D
D
The setting of the slave axis in the speed/ current
synchronization control.
When the master axis is the full-closed control.
For linear servomotor current synchronization
D
E
For V2 closed-loop current synchronization
control
E Setting impossible
F Setting impossible
SV026
OD2
Excessive error
detection width
during servo OFF
Set the excessive error detection width when servo ON.
For the standard setting, refer to the explanation of SV023 (OD1).
When “0” is set, the excessive error detection will not be performed.
0 to 32767
(mm)
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
4 - 9

4. Setup
No. Abbrev. Parameter name Explanation
Setting range
(Unit)
HEX setting
F E D C B A 9 8 7 6 5 4 3 2 1 0
aflt zrn2 afse ovs lmc omr zrn3 vfct vcnt
bit Meaning when “0” is set Meaning when “1” is set
0 Set the execution changeover type of the speed loop delay compensation.
1 vcnt 00: Delay compensation changeover invalid 10: Delay compensation type 2
01: Delay compensation changeover type 1 11: Setting prohibited
2
3
4 Set the number of compensation pulses of the jitter compensation.
5 vfct 00: Jitter compensation invalid 10: Jitter compensation 2 pulses
01: Jitter compensation 1 pulse 11: Jitter compensation 3 pulses
SV027 SSF1 Servo function 6 zrn3 ABS scale: Set to “1” in using AT342, AT343, AT543, LC191M/491M.
selection 1 7 omr Machine side compensation invalid Machine side compensation valid
SV028
SV029
MSFT Pole shift amount
VCS
Speed at the change
of speed loop gain
8
9 lmc
A
B
C
D
Set the compensation amount with SV016 (LMC1) and SV041 (LMC2).
00: Lost motion compensation stop 10: Lost motion compensation type 2
01: Lost motion compensation type 1 11: Setting prohibited
Set the compensation amount with SV031 (OVS1) and SV042 (OVS2).
ovs 00: Overshooting compensation stop 10: Overshooting compensation type 2
01: Overshooting compensation type 1 11: Setting prohibited
afse 00: Adoptive filter sensitivity standard
11: Adoptive filter sensitivity increase (Set 2bits at a time)
E zrn2 Set to “1”.
F aflt Adoptive filter stop Adoptive filter start
(Note) Set to "0" for bits with no particular description.
Set the pole shift amount for the linear servomotor.
This is not used for the rotary servomotor.
Set to “0”.
If the noise is bothersome at high speed during rapid traverse, etc, lower
the speed loop gain.
Set the speed at which the speed loop gain changes, and use this with
SV006 (VGN2).
When not using, set to “0”.
The setting unit differs for the linear servo, but the function is the same as
that explained here.
-32768 to
32767 (µm)
0 to 9999
(r/min)
0 to 9999
(mm/s)
Abbrev. Parameter name Explanation
Setting range
(Unit)
When 100% is set, the voltage equivalent to the logical
non-energized time will be compensated.
SV030 0 to 255
Voltage dead time When “0” is set, a 100% compensation will be performed. 0 to 255
IVC
compensation Adjust in increments of 10% from the default value 100%. (%)
If increased too much, vibration or vibration noise may be
generated.
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
4 - 10

4. Setup
No. Abbrev. Parameter name Explanation
Setting range
(Unit)
Set this if overshooting occurs during positioning. This compensates the
motor torque during positioning.
This is valid only when the overshooting compensation SV027 (SSF1/ovs)
is selected.
SV031
OVS1
Overshooting
compensation 1
SV032 TOF Torque offset
Type 1: When SV027 (SSF1)/ bitB, A (ovs)=01
Set the compensation amount based on the motor’s stall current.
This compensates overshooting that occurs during pulse feeding.
Normally, use Type 2.
Type 2: When SV027 (SSF1)/ bitB, A (ovs)=10
Set the compensation amount based on the motor’s stall current.
Increase by 1% and determine the amount that overshooting doesn’t
occur.
In Type 2, compensation during the feed forward control during circular
cutting won’t be performed.
Type 3: When SV027 (SSF1)/ bitB, A (ovs)=11
Use this to perform the overshooting compensation during circular
cutting or the feed forward control. The setting method is the same in
Type 2.
-1 to 100
(Stall [rated]
current %)
When you wish different compensation amount depending on the direction
When SV042 (OVS2) is “0”, compensate with the value of SV031
(OVS1) in both of the + and -directions.
If you wish to change the compensation amount depending on the
command direction, set this and SV042 (OVS2). (SV031: + direction,
SV042: - direction. However, the directions may be opposite
depending on other settings.)
When “-1” is set, the compensation won’t be performed in the direction of
the command.
Set the unbalance torque of vertical axis and inclined axis. -100 to 100
(Stall [rated]
current %)
HEX setting
F E D C B A 9 8 7 6 5 4 3 2 1 0
dos nfd2 nf3 nfd1 zck
SV033
SSF2
Servo function
selection 2
bit Meaning when “0” is set Meaning when “1” is set
0 zck Z phase check valid (Alarm 42) Z phase check invalid
1 Set the filter depth for Notch filter 1 (SV038).
2 nfd1 Value 000 001 010 011 100 101 110 111
3
Depth (dB)
Deep
Infntly
deep
-18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2
4 nf3 Notch filter 3 stop Notch filter 3 start (1125Hz)
5 Set the operation frequency of Notch filter 2 (SV046).
6 nfd2 Value 000 001 010 011 100 101 110 111
7
8
9
A
B
C
D
E
F
dos
Depth (dB)
Deep
Infntly
deep
-18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2
Shallow
Shallow
0: MP scale absolute position detection, offset demand signal output
(Note) Set to “0” for bits with no particular description.
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
4 - 11

4. Setup
No. Abbrev. Parameter name Explanation
Setting range
(Unit)
HEX setting
F E D C B A 9 8 7 6 5 4 3 2 1 0
ovsn zeg mohn has2 has1
SV034 SSF3 Servo function
selection 3
bit Meaning when “0” is set Meaning when “1” is set
Setting for normal use. HAS control 1 valid
0 has1
(High acceleration rate support)
Setting for normal use. HAS control 2 valid
1 has2
(Overshooting support)
2 mohnMDS-B-HR motor thermal valid MDS-B-HR motor thermal ignored
3
4
5
Z phase normal edge detection Z phase reverse edge detection
zeg
(normal)
(Valid only when SV027/bit6=1)
6
7
8
9
A
linN Set the number of linear servos connected in parallel.
B
C
D
E
F
Set the non-sensitive band of the overshooting compensation type 3 in
ovsn increments of 2m at a time.
In the feed forward control, the non-sensitive band of the model
position droop is set, and overshooting of the model is ignored.
Set the same value as the standard SV040.
(Note) Set to “0” for bits with no particular description.
SV035
SSF4
HEX setting
F E D C B A 9 8 7 6 5 4 3 2 1 0
clt clG1 cl2n clet cltq
bit Meaning when “0” is set Meaning when “1” is set
0
1
2
3
4
5
Servo function
6
selection 4 7
8
Set the retracting torque for collision detection in respect to the
Cltq maximum torque of the motor.
9 00: 100% 01: 90% 10: 80% (Standard) 11: 70%
Setting for normal use
The disturbance torque peak of the
A clet
latest two seconds is displayed in
MPOS of the servo monitor screen.
B cl2n Collision detection method 2 valid
Collision detection method 2
invalid
C
Collision detection method 1
Set the collision detection level during cutting feed (G1).
D clG1 The G1 collision detection level=SV060*clG1.
E
When clG1=0, the collision detection method 1 during cutting feed
won’t function.
Setting for normal use
The guide value of the SV059
F clt
setting value is displayed in MPOS
of the servo monitor screen.
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
4 - 12

4. Setup
No. Abbrev. Parameter name Explanation
Setting range
(Unit)
HEX setting
F E D C B A 9 8 7 6 5 4 3 2 1 0
amp rtyp ptyp
bit
0
1
Explanation
When the CN4 connector of the drive unit and the power supply are
connected, setting below is necessary.
2 To validate the external emergency stop function, add 40h.
3 Setting 0x 1x 2x 3x 4x 5x 6x 7x 8x
4 ptyp x0
Not
used
5 x1 CV-110
6 x2 CV-220
7 x3
SV036 PTYP* Power supply type x4 CV-37
CV-300
x5 CV-150 CV-450 CV-550 CV-750
x6 CV-55 CV-260
x7 CV-370
x8 CV-75
x9 CV-185
8 "0": Standard setting
9 "1": When MDS-CH-V1-185 is connected
rtyp
A
B
C Set "0".
D
E amp
F
SV037 JL Load inertia scale
SV038
SV039
FHz1
LMCD
Notch filter frequency
1
Lost motion
compensation timing
Set “the motor inertia + motor axis conversion load inertia” in respect to the
motor inertia.
Jl+Jm Jm Motor inertia
SV037(JL) = *100
Jm
Jl Motor axis conversion load inertia
Set total weight of the moving section for the linear servomotor as a kg unit.
Set the vibration frequency to suppress if machine vibration occurs.
(Valid at 36 or more) When not using, set to “0”.
Set this when the lost motion compensation timing doest not match.
Adjust by increasing the value by 10 at a time.
0 to 5000
(%)
0 to 5000
(kg)
0 to 9000
(Hz)
0 to 2000
(ms)
Setting range
Abbrev. Parameter name Explanation
(Unit)
Set the non-sensitive band of the lost motion compensation
SV040 Lost motion
0 to 100
in the feed forward control.
0 to 100
LMCT compensation
When “0” is set, the actual value that is set is 2m.
(µm)
non-sensitive band
Adjust by increasing by 1m at a time.
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
4 - 13

4. Setup
No. Abbrev. Parameter name Explanation
SV041
SV042
SV043
SV044
LMC2
OVS2
OBS1
OBS2
Lost motion
compensation 2
Overshooting
compensation 2
Setting range
(Unit)
Set this with SV016 (LMC1) only when you wish to set the lost motion -1 to 200
compensation amount to be different depending on the command directions. (Stall [rated]
Set to “0” as a standard.
current %)
Set this with SV031 (OVS1) only when you wish to set the overshooting -1 to 100
compensation amount to be different depending on the command directions. (Stall [rated]
Set to “0” as a standard.
current %)
Set the disturbance observer filter band.
Disturbance observer Set to “100” as a standard.
filter frequency To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2).
When not using, set to “0”.
Set the disturbance observer gain. The standard setting is “100” to “300”.
Disturbance observer
To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1).
gain
When not using, set to “0”.
0 to 1000
(rad/s)
0 to 500
(%)
Setting range
Abbrev. Parameter name Explanation
(Unit)
SV045 0 to 100 0 to 100
When you use the collision detection function, set the
TRUB Frictional torque
(Stall [rated]
frictional torque.
current %)
SV046
SV047
SV048
SV049
SV050
SV051
SV052
SV053
FHz2
EC
EMGrt
PGN1sp
PGN2sp
DFBT
DFBN
OD3
Notch filter frequency Set the vibration frequency to suppress if machine vibration occurs.
2
(Valid at 36 or more) When not using, set to “0”.
Inductive voltage
compensation gain
Vertical axis drop
prevention time
Position loop gain 1
in spindle
synchronous control
Position loop gain 2
in spindle
synchronous control
Set the inductive voltage compensation gain. Set to “100” as a standard.
If the current FB peak exceeds the current command peak, lower the gain.
Input a length of time to prevent the vertical axis from dropping by delaying
Ready OFF until the brake works when the emergency stop occurs.
Increase the setting by 100msec at a time and set the value where the axis
does not drop.
Set the position loop gain during the spindle synchronous control
(synchronous tapping, synchronous control with spindle/C axis).
Set the same value as the value of the spindle parameter, position loop gain
in synchronous control.
When performing the SHG control, set this with SV050 (PGN2sp) and
SV058 (SHGCsp).
Set this with SV049 (PGN1sp) and SV058 (SHGCsp) if you wish to perform
the SHG control in the spindle synchronous control (synchronous tapping,
synchronous control with spindle/C axis).
When not performing the SHG control, set to “0”.
Set the control time constant in dual feed back.
Dual feed back When “0” is set, the actual value that is set is 1msec.
control time constant The higher the time constant is, the closer it gets to the semi-closed control,
so the limit of the position loop gain is raised.
Dual feedback
control dead zone
Excessive error
detection width in
special control
Set to “0” as a standard.
Set the dead zone in the dual feedback control.
Set the excessive error detection width when servo ON in a special control
(initial absolute position setting, stopper control, etc.).
If “0” is set, excessive error detection won’t be performed.
0 to 9000
(Hz)
0 to 200
(%)
0 to 20000
(ms)
1 to 200
(rad/s)
0 to 999
(rad/s)
0 to 9999
(ms)
0 to 9999
(µm)
0 to 32767
(mm)
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
4 - 14

4. Setup
No. Abbrev. Parameter name Explanation
SV054
SV055
SV056
ORE
EMGx
EMGt
Overrun detection
width in closed loop
control
Max. gate off delay
time after
emergency stop
Deceleration time
constant at
emergency stop
SV057 SHGC SHG control gain
SV058
SV059
SV060
SV061
SV062
SHGCsp
TCNV
TLMT
DA1NO
DA2NO
SV063 DA1MPY
SV064 DA2MPY
SV065
TLC
SHG control gain in
spindle
synchronous control
Collision detection
torque estimating
gain
Collision detection
level
D/A output channel 1
data No.
D/A output channel 2
data No.
D/A output channel 1
output scale
D/A output channel 2
output scale
Machine side
compensation spring
constant
Set the overrun detection width in the full-closed loop control.
If the gap between the motor side detector and the linear scale (machine
side detector) exceeds the value set by this parameter, it is judged to be
overrun and Alarm 43 will be detected.
When “-1” is set, the alarm detection won’t be performed. When “0” is set,
overrun is detected with a 2mm width.
Set a length of time from the point when the emergency stop is input to the
point when READY OFF is compulsorily executed.
Normally, set the same value as the absolute value of SV056.
In preventing the vertical axis from dropping, the gate off is delayed for the
length of time set by SV048 if SV055’s value is smaller than that of SV048.
In the vertical axis drop prevention time control, set the time constant used
for the deceleration control at emergency stop. Set a length of time that
takes from rapid traverse rate (rapid) to stopping.
Normally, set the same value as the rapid traverse acceleration/deceleration
time constant.
When executing the synchronous operation, put the minus sign to the
settings of both of the master axis and slave axis.
When performing the SHG control, set this with S003 (PGN1) and SV004
(PGN2).
When not performing the SHG control, set to “0”.
Set this with SV049 (PGN1sp) and SV050 (PGN2sp) if you wish to perform
the SHG control in the spindle synchronous control (synchronous tapping,
synchronous control with spindle/C axis).
When not performing the SHG control, set to “0”.
Set the torque estimating gain when using the collision detection function.
After setting as SV035/bitF(clt)=1 and performing acceleration/deceleration,
set the value displayed in MPOS of the NC servo monitor screen.
Set to “0” when not using the collision detection function.
When using the collision detection function, set the collision detection level
during the G0 feeding.
If “0” is set, none of the collision detection function will work.
Input the data number you wish to output to D/A output channel.
In the case of MDS-C1-V2, set the axis on the side to which the data will
not be output to “-1”.
Set the scale with a 1/256 unit.
When “0” is set, output is done with the standard output unit.
Set the spring constant of the machine side compensation.
In the semi-closed loop control, the machine side compensation amount is
calculated with the following equation.
Compensation amount=
When not using, set to “0”.
F (mm/min) 2 *SV065
R (mm)*10 9
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
(m)
Setting range
(Unit)
-1 to 32767
(mm)
0 to 20000
(ms)
-20000 to
20000
(ms)
0 to 1200
(rad/s)
0 to 1200
(rad/s)
-32768 to
32767
0 to 999
(Stall [rated]
current %)
-1 to 127
-32768 to
32767
(Unit: 1/256)
-32768 to
32767
4 - 15

4. Setup
No. Abbrev. Parameter name Explanation
F E D C B A 9 8 7 6 5 4 3 2 1 0
pabs rabs
bit Meaning when "0" is set Meaning when "1" is set
SV081
SPEC2*
Servo specification
selection 2
0
1 rabs
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Normal setting Rotary axis machine end absolute
position control
Normal setting
pabs
(Note) Set to "0" for bits with no particular description.
Speed/current synchronous
control absolute position control
F E D C B A 9 8 7 6 5 4 3 2 1 0
obshj lmc3 lmct
SV082
SSF5
Servo function
selection5
bit Meaning when "0" is set Meaning when "1" is set
Setting for normal use Lost motion compensation 3
0 lmct
adjustment time measurement
valid
1 lmc3 Lost motion compensation 3 stop Lost motion compensation 3 start
2
3
4
5
6
Normal use
7 obshj
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.
Disturbance observer
High-load inertia compatible
control
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
4 - 16

4. Setup
No. Abbrev. Parameter name Explanation
Setting range
(Unit)
F E D C B A 9 8 7 6 5 4 3 2 1 0
nfd5
nfd4
bit Meaning when set to 0 Meaning when set to 1
0
1 Set the filter depth for Notch filter 4 (SV038).
2 Setting value Deep ← → Shallow
3
nfd4
000 001 010 011 100 101 110 111
Depth (dB) - ∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2
4
SV083
SSF6
Servo function
selection 6
5 nfd5 Set the filter depth for Notch filter 5 (SV046).
6 Setting value Deep ← → Shallow
7 000 001 010 011 100 101 110 111
Depth (dB) -∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.
F E D C B A 9 8 7 6 5 4 3 2 1 0
bit Meaning when set to 0 Meaning when set to 1
0
1
2
3
4
SV084
SSF7
Servo function
selection 7
5
6
7
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
4 - 17

4. Setup
No. Abbrev. Parameter name Explanation
SV085
SV086
SV087
SV088
SV089
:
SV100
LMCk
LMCc
FHz4
FHz5
Lost motion
compensation
spring constant
Lost motion
compensation
viscous coefficient
Notch filter
frequency 4
Notch filter
frequency 5
Setting range
(Unit)
Set the machine system's spring constant when using lost motion
compensation type 3. 0 to 32767
Set the machine system's viscous coefficient when using lost motion
compensation type 3. 0 to 32767
Set the vibration frequency to suppress if machine vibration occurs. (Valid at
141 or more) When not using, set to "0".
To use this function, set to not "0" (normally "1") when turning the power ON.
0 to 2250
(Hz)
This function cannot be used with adaptive filter. 0 to 2250
(Hz)
Not used. Set to "0".
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
0
4 - 18

4. Setup
4-2-2 Limitations to electronic gear setting value
The servo drive unit has internal electronic gear. The command value from the NC is converted into a
detector resolution unit to carry out position control. The electronic gears are single gear ratios
calculated from multiple parameters. However, each value (ELG1, ELG2) must be 32767 or less.
If the value overflows, the initial parameter error (alarm 37) will be output.
If an alarm occurs, the mechanical specifications and electrical specifications must be revised so that
the electronic gears are within the specifications range.
Parameters related to electronic gears
SV001 (PC1), SV002 (PC2), SV003 (PGN1) (SV049 (PGN1sp)), SV018 (PIT), SV019 (RNG1), SV020 (RNG2)
Reduced fraction of
ELG1
ELG2 = PC2 × RANG
PC1 × PIT × IUNIT
RANG = RNG1
(reduced fraction)
RANG = (RNG2 × PGN1sp)
IUNIT = 2/NC command unit (µm) 1µm: IUNIT = 2, 0.1µm: IUNIT = 20
When the above is calculated, the following conditions must be satisfied.
ELG1 ≤ 32767
ELG2 ≤ 32767
Method of confirming maximum setting range for PC1 and PC2 (Example)
For semi-closed loop, 10mm ball screw lead, 1µm command unit and OSA104 motor side detector.
The following parameters can be determined with the above conditions.
SV018 (PIT) = 10, SV019 (RNG1) = 100, SV020 (RNG2) = 100, IUNIT = 2
According to the specifications, the maximum setting value for ELG1 and ELG2 is 32767.
ELG1 PC2 × 100 5 × PC2 Thus, the maximum
value is: PC1 <
PC2 < 6553
=
=
ELG2 PC1 × 10 × 2 1 × PC1
32767
Set the PC1 and PC2 gear ratio to within the above calculation results.
4-2-3 Setting excessive detection error width
The following parameters are determined according to each axis' feedrate.
No. Abbrev. Parameter name Explanation
SV023 OD1 Excessive error detection
width at servo ON
SV026 OD2 Excessive error detection
width at servo OFF
Set "6" as a standard. A protective function will activate if the error
between the position command and position feedback is excessive. If
the machine load is heavy and problems occur with the standard
settings, gradually increase the setting value.
OD1 = OD2 =
Rapid traverse rate (mm/min)
÷ 2 (mm)
60 × PGN1
4 - 19

4. Setup
4-2-4 Setting motor and detector model
The settings are made as shown below according to the motor and detector model being used.
Check the model in the specifications, and set accordingly.
No. Abbr. Parameter name Explanation
SV025 MTYP Motor/detector Set the servomotor and detector model. (HEX setting)
model F E D C B A 9 8 7 6 5 4 3 2 1 0
pen ent mon
pen (Position detector)
bit Semi-closed loop bit Closed loop
0 OSE104 4 OSE104-ET
1 OSA104 5 OSA104-ET
2 OSA105 / OSE105 6 OSA105-ET/OSE105-ET
OBA13/OBA14/OBA17 8 ABZ SCALE
9 ABS SCALE (AT41, FME, FLE type)
A
ABS SCALE
(AT342, 343, 543, LC191M type)
Scale I/F unit
C
Synchronous control (only slave axis)
(MDS-B-HR type)
D
2-scale 2-linear servo system
closed-loop synchronous control
4 - 20
ent (Speed detector)
bit
Explanation
0 OHE25K/OSE104
1 OHA25K/OSA104
2 OSA105/OSE105/OBA13/OCA14/OSA17
For normal control, speed synchronous control/linear servo (ABS SCALE,
A
scale I/F)
Dedicated for synchronous control semi-closed loop (current instructed
C
synchronization)
For speed synchronous control, current command synchronization/
D
linear current synchronization
E Closed current synchronization
The scale detectors used in combination with the linear servomotor are shown
below.
Resolution Detector
Model
Display type Type Pen ent
(um) ID
0.1 B0h
LC191M
0.05 B1h
H-ABS-LS
0.1 B0h
LC491M
0.05 B1h
ABS
AT342 0.5 24h
A or D A or D
AT342
AT343 0.05 25h
AT543 0.05 25h M-ABS-LS
Analog 51h HR + AT32
MDS-B-HR
cycle/500 52h, 56h BHR-Version INC
When connecting the detector ID:52H, set SV034(SSF) to 1.
mon (Motor model)
bit 0 to 7 Setting Motor model Setting Motor model
B0 HC-H52 C0 HC-H53
B1 HC-H102 C1 HC-H103
B2 HC-H152 C2 HC-H153
B3 HC-H202 C3 HC-H203
B4 HC-H352 C4 HC-H353
Hex setting B5 HC-H452 C5 HC-H453
B6 HC-H702 C6 HC-H702
B7 HC-H902 C7 HC-H903
B8 HC-H1102 C8 HC-H1103
B9 HC-H1502
08
LM-NP5G-60P
(Natural cooling)
LM-NP5G-60P
18
(Oil-cooled)
SV017 spm must also be set.
Note 1) For synchronous control, the master axis is set as the standard, and synchronous control is set for the slave axis.
Note 2) When carrying out synchronous control with the MDS-CH-V2 Series, set the L axis as the master and the M axis as the
slave.
Note 3) Synchronous control with the MDS-CH-V1 Series is compatible only with the absolute position system.

4. Setup
4-2-5 Setting servo specifications
No. Abbr. Parameter name Explanation
SV017 SPEC Servo
specifications
These parameters are set with HEX values. Set as shown below to match the
servo specifications.
F E D C B A 9 8 7 6 5 4 3 2 1 0
spm mpt3 mp abs vdir fdir spwv seqh dfbx vdir2
bit Meaning when set to 0 Meaning when set to 1
0 vdir2 Speed feedback forward polarity Speed feedback reverse polarity
1 dfbx Dual feedback control invalid Dual feedback control valid
2
3 spwv Speed feedback filter invalid Speed feedback filter valid
4 fdir
Position feedback forward
polarity
Position feedback reverse
polarity
5
7 abs Relative position detection Absolute position detection
8 mp MP scale 360P (2mm pitch) MP scale 720P (1mm pitch)
9 mpt3
A
B
MP scale absolute position
detection type 1, 2
MP scale absolute position
detection type 3
C
to F spm "0010": HC-H motor (hexadecimal setting "2")
"1001": LN-NP5G linear servomotor (hexadecimal setting "8")
Set "0" for all bits other than those above.
SV036 PTYP Power supply type These parameters are set with HEX values.
F E D C B A 9 8 7 6 5 4 3 2 1 0
amp rtyp ptyp
bit
ptyp
rtyp
Amp
Explanation
Set a power supply unit model. (Only units with wiring to CN4 connector)
Setting
value
Content
Setting
value
Content
00 With no power supply unit 22 CH-CV-220 22kW
04 CH-CV-37 3.7kW 26 CH-CV-260 26kW
06 CH-CV-55 5.5kW 30 CH-CV-300 30kW
08 CH-CV-75 7.5kW 37 CH-CV-370 37kW
11 CH-CV-110 11kW 45 CH-CV-450 45kW
15 CH-CV-150 15kW 55 CH-CV-550 55kW
19 CH-CV-185 18.5kW 75 CH-CV-750 75kW
Normally, set "00".
Always set "0". (Power regeneration type)
Set "1" when connecting V1-185.
Always set "0". (For MDS-CH)
SV027 SSF1 Special servo
function selection 1
SV033 SSF2 Special servo
function selection 2
SV001 PC1 Motor gear ratio
SV002 PC2 Machine gear ratio
Normally, set "4000".
Normally, set "0000".
Set the motor gear ratio in PC1 and the machine gear ratio in PC2.
For the rotary axis, set the total deceleration (acceleration) ratio.
SV018 PIT Ball screw pitch Set the ball screw pitch as an mm unit. Set 360 for the rotary axis.
SV019 RNG1 Position detector
resolution
SV020 RNG2 Speed detector
resolution
SV003 PGN1 Position loop gain 1 Normally, set "33".
Set the motor detector resolution as a kp/rev unit for both parameters.
Refer to section "4-2-4 Setting motor and detector model" for details on the
settings.
4 - 21

4. Setup
4-2-6 Initial setup of the linear servo system
The methods of setting up the poles for the linear servomotor are explained in this section.
The motor is driven by the magnetic force created by the coil and the magnetic force of the permanent
magnet. Thus, it is necessary to comprehend at which pole of the permanent magnet the coil is located.
With the conventional rotary motor, the coil and permanent magnet are located in the motor, and the
relation of the two parts is fixed. The relation of the detector installed on the motor and the motor itself
is also fixed.
With the linear servo system the coil (motor primary side), permanent magnet (motor secondary side)
and linear are installed independently, so the pole must be adjusted according to the linear servomotor
and linear scale relation.
If this pole is not adjusted, the motor may not operate or may not operate correctly, so always set as
explained below.
(1) Installing the linear servomotor and linear scale
The installation direction of the linear servomotor and linear scale is explained in this section.
1) Linear servomotor's pole direction
The pole direction of the linear servomotor is shown below. As shown in the drawing, if moved
in the direction having the power cable connector or MDS-B-MD installation hole, the pole will
move in the minus direction. If moved in the opposite direction, the pole will move in the plus
direction.
Motor primary side
Magnetic pole detector unit
installation holes
Power cable connector
Motor secondary
side
Plus direction
Minus direction
4 - 22

4. Setup
2) Linear scale feedback direction
The linear scales include the Mitutoyo scale and Heidenhain scale, etc. The feedback direction
of the Mitutoyo AT342 scale is shown below. When moved to the left, looking from the direction
with the detector head facing downward and the AT342 display facing forward, the feedback
moves in the plus direction. When moved in the opposite direction, the position moves in the
minus direction.
The polarity (plus/minus) of the Heidenhain scale is the opposite of the Mitutoyo scale.
Scale unit body
Signal cable
Plus direction
Mitutoyo
AT342
Detection head
Minus direction
Scale unit body
HEIDENHAIN
Signal cable
Detection head
Plus direction
Minus direction
If the linear servomotor's pole direction and linear scale's feedback direction are same, the
state is called forward polarity. If these directions differ, the state is called reverse polarity.
Normally, these are installed to achieve forward polarity, but can be installed to achieve
reverse polarity. Set the parameters as shown below. When this parameter is set, the servo
drive unit's position direction can be reversed. Thus, the position data displayed on the Servo
Monitor screen will have a plus/minus direction opposite from the linear scale feedback
direction.
(The Heidenhain scale indicates the case of the A, B phase analog output of the measurement
length system LS, LIDA and LIF. Thus, when using another scale, confirm that the A and B
phase analog outputs have the same relation.)
No.
Abbr.
SV017 SPEC
Parameter
name
Servo
specifications
Explanation
HEX setting parameter. Set as shown below according to the servo
specifications.
F E D C B A 9 8 7 6 5 4 3 2 1 0
spm drvall drvup mpt3 mp abs vmh vdir fdir seqh dfbx vdir2
bit Meaning when set to 0 Meaning when set to 1
4 fdir
Main side (CN2) feedback
forward polarity
Main side (CN2) feedback
reverse polarity
4 - 23

4. Setup
Table of feedback polarity according to linear servomotor and linear scale installation direction
Connected scale AT342 scale Heidenhain scale
Item Polarity SPEC (fdir) Polarity SPEC (fdir)
1 Forward polarity 0 Reverse polarity 1
2 Reverse polarity 1 Forward polarity 0
3 Reverse polarity 1 Forward polarity 0
Installation No.
4 Forward polarity 0 Reverse polarity 1
5 Reverse polarity 0 Forward polarity 1
6 Forward polarity 0 Reverse polarity 1
7 Forward polarity 1 Reverse polarity 0
8 Reverse polarity 1 Forward polarity 0
Installation 1 Installation 2
Power cable
connector
Signal cable
Signal
cable
Detection head
Detection head
Power cable
connector
Installation 3 Installation 4
Power cable
connector
Detection head
Signal cable
Detection head
Signal cable
Power cable
connector
Fig. (1)-1 When linear scale detection head is installed on motor's primary side
(This is for the AT342. The signal cable direction is reversed for the Heidenhain scale.)
Installation 5 Installation 6
Power cable
connector
Signal
cable
Detection head
Detection head
Signal cable
Power cable connector
Installation 7 Installation 8
Power cable
connector
Detection head
Detection head
Signal cable
Signal cable
Power cable connector
Fig. (1)-2 When linear scale body is installed on motor's primary side
(This is for the AT342. The signal cable direction is reversed for the Heidenhain scale.)
4 - 24

4. Setup
(2) DC excitation function
By using the DC excitation function, the linear servomotor can be moved to 0º on the pole
regardless of the feedback from the linear scale.
This DC excitation function is required to determine the pole shift amount. When determining the
pole shift amount, carry out DC excitation after confirming that the cycle counter displayed on the
Servo Monitor screen is not "0" (Z phase passed).
The following parameters are used for DC excitation.
No.
Abbr.
SV034 SSF3
Parameter
name
Servo
function
selection 3
Explanation
HEX setting parameter. Set as shown below according to the servo specifications.
F E D C B A 9 8 7 6 5 4 3 2 1 0
ovsm linN toff os2 dcd test mohn has2 has1
bit Meaning when set to 0 Meaning when set to 1
4 dcd Setting for normal use. DC excitation mode
No. Abbrev. Parameter name Explanation
D/A output channel 1 Set the initial excitation level for DC excitation.
SV061 DA1NO
data No.
Set 20 when starting DC excitation.
D/A output channel 2 Set the final excitation level for DC excitation.
SV062 DA2NO
data No.
Normally, 40 is set.
D/A output channel 1 Set the initial excitation time for DC excitation. (ms)
SV063 DA1MPY
output scale Normally, 500 is set.
* Set to |SV061| ≤ |SV062|.
1. Secure the distance (PIT) that the linear servomotor moves during
DC excitation.
2. Set SV034:dcd to "1", and the setting values for starting DC
excitation in SV061 to SV063.
3. Release emergency stop. (Start DC excitation.)
4. Apply emergency stop. (Stop DC excitation)
Magnet
Motor
Setting range
(Unit)
0 to 100
[Stall rated current %]
0 to 100
[Stall rated current %]
-32768 to 32767
[Stall rated current %]
Movement
distance within
PIT setting value
Movement
distance within
PIT setting value
1. When the emergency stop is released, the value set in SV061 will flow to the V phase (V phase
excitation) for (SV063 setting value × 1/2) msec, and the motor will move toward the pole 120°.
The movement direction and distance depend on the position of the linear servomotor when
emergency stop is released as shown below. (It may not be possible to confirm movement when
already near pole 120°.)
2. Next, the current set in SV061 will flow the U phase (U phase excitation) for (SV063 setting value
× 1/2) msec, and the servomotor will move toward the pole 0°. In this case, the movement will be
in the same direction for all examples shown below.
3. Finally, the current set in SV062 will flow to the U phase, and the magnetic pole 0° position will
be established.
Magnetic
pole 120°
Magnetic
pole 120°
Magnetic
pole 300°
Magnetic
pole 0°
Motor
Magnet
V phase
excitation
U phase
excitation
Magnetic
pole 360°
(Magnetic
pole 0°)
Magnetic
pole 300°
Magnet
Motor
U phase
excitation
V phase
excitation
Magnetic
pole 120°
Magnetic
pole 0°
Motor
Magnet
V phase
excitation
U phase
excitation
Fig. (2)-1
When linear servomotor
is between pole
0° and 120°.
Fig. (2)-2
When linear servomotor
is between pole
300° and 360°.
Fig. (2)-3
When linear servomotor
is between pole
120° and 300°.
4 - 25

4. Setup
1. During DC excitation, confirm the value displayed at MAX CURRENT 2 on the NC Servo Monitor
screen.
If the linear servomotor does not move even when the MAX CURRENT 2 value is 100 or more,
the cable connection may be incorrect, so confirm the connection.
2. Confirm the MAIN side feedback polarity (SPEC/fdir) achieved with DC excitation.
The MAIN side feedback polarity can be confirmed with the direction that the linear servomotor
moves during U phase excitation, and the increment/decrement of the cycle counter displayed
on the NC Servo Monitor screen. Judge whether the polarity confirmed with DC excitation
matches the polarity set with the servo parameters. Correct the servo parameter polarity if
incorrect.
fdir correction table according to linear servomotor movement with DC excitation.
Motor movement
Cycle counter
increment/decrement
Linear servomotor polarity
Minus direction
Linear servomotor polarity
Plus direction
Increment Decrement Increment Decrement
ABS SCALL Correctly set Incorrectly set Incorrectly set Correctly set
MDS-B-HR Incorrectly set Correctly set Correctly set Incorrectly set
(3) Setting the pole shift
When the linear servomotor and linear scale are installed, the linear servomotor does not know
which pole the permanent magnet is at. Thus, if the linear servomotor is driven in that state, it may
not move or could runaway. By setting the pole shift amount, the linear servomotor can be driven
correctly no matter which pole it is at.
For the pole shift amount, set the data displayed at Rn on the NC Absolute Position Monitor screen
during DC excitation (while the emergency stop is released).
No. Abbrev. Parameter name Explanation
SV028 MSFT Pole shift amount Set the pole shift amount
* The SV028 setting value is validated after the NC power is rebooted.
Setting range
(Unit)
-30000 to 30000
(µm)
1) For system to which MDS-B-MD is not connected
If the pole shift amount is set, it will be validated after the NC power is rebooted.
2) For system to which MDS-B-MD is connected
Normally, the motor is driven with the pole created by MDS-B-MD. However, if this pole shift
amount is set, it will be validated when the Z phase has been passed once after the NC power
has been rebooted. However, if there is a deviation of 30º or more between the pole before and
after pole shifting, the pole shift amount will not be validated, and instead the 9B warning (Pole
shift warning) will be detected. The motor will be driven with the pole achieved before pole
shifting.
If the "9B alarm" occurs, carry out DC excitation again to determine the pole shift amount. The
correct pole shift amount can be achieved even if a value is set in SV028 at this time.
4 - 26

4. Setup
Flow chart for DC excitation and pole shift amount setting
Start of adjustment
Cycle counter = 0?
N
Y
Move the motor's
primary side.
Change SV017/fdir
(Change the polarity)
Set SV061: 20
SV062: 40
SV063: 500
Set SV034/dcd to "1"
Release the emergency stop
Confirm the motor movement and NC
Servo Monitor MAX CURRENT 2 value.
Increase the SV061,
SV062 setting values
Y
N
Has a time exceeding
SV063 setting value
elapsed?
Y
Emergency stop
MAX CURRENT 2 < 100?
N
Y
Did the motor not move?
N
Check the connection
SV061 = SV062?
N
Y
Increase the SV062
setting value
Release the emergency stop
Confirm direction that the motor's
primary side moves to the end
Confirm Rn on the NC
Absolute Position Motor
Emergency stop
N
Is the polarity correct?
Y
Set the Rn display value in
SV028, and SV034/dcd to "0"
Reboot the NC power, and
carry out normal operation.
4 - 27

4. Setup
(4) Setting the parallel drive system
When driving the linear servomotor with a parallel drive system, confirm that the following
parameters are correctly set for each control method. If incorrectly set, correct the setting and
reboot the NC power supply.
When using a parallel drive system, do not simultaneously DC excite the master side and slave
side. When carrying out DC excitation of either axis, make sure that current is not flowing to the
other axis.
No. Abbr. Parameter name Explanation
SV017 SPEC Servo
specifications
HEX setting parameter. Set as shown below according to the servo
specifications.
F E D C B A 9 8 7 6 5 4 3 2 1 0
spm drvall drvup mpt3 mp abs vmh vdir fdir seqh dfbx vdir2
bit Meaning when set to 0 Meaning when set to 1
4 fdir
Main side (CN2) feedback
forward polarity
Main side (CN2) feedback
reverse polarity
0 vdir2
Sub-side (CN3) feedback
forward polarity
Sub-side (CN3) feedback
reverse polarity
SV025 MTYP
Motor/detector type HEX setting parameter. Set as follows according to detector type.
F E D C B A 9 8 7 6 5 4 3 2 1 0
pen ent mtyp
8
9
A
B
C
D
E
F
bit
Details
ent Set the position detector type. (Refer to section 4-2-4.)
pen Set the speed detector type. (Refer to section 4-2-4.)
No. Abbrev. Parameter name Explanation
SV028 MSFT Pole shift amount
Set the pole shift amount
Setting range
(Unit)
-30000 to 30000
(µm)
4 - 28

4. Setup
2-scale 2-drive control (System using only main side (CN2 connector side) feedback)
Setting
Master axis
Slave axis
parameter
SV017/fdir
Normally, set the setting value
for control.
SV017/vdir2 Set "0". Set "0".
SV025/pen, ent Set AAxx.
SV028
Normally, set the setting value
for control.
Normally, set the setting value for control.
Set AAxx.
Normally, set the setting value for control.
2-scale 2-drive control (System also using sub- side (CN3 connector side) feedback)
Setting
parameter
SV017/fdir
SV017/vdir2
Master axis
Normally, set the setting value
for control.
Set "0".
SV025/pen, ent Set AAxx.
SV028
Normally, set the setting value
for control.
Slave axis
Normally, set the setting value for control.
If the master axis and linear servomotor pole
directions are the same, set to the same
setting as SV017/fdir for the master axis.
If the pole directions are reversed, set the
opposite setting as SV017/fdir for the master
axis.
Set DAxx.
Normally, set the setting value for control.
1-scale 2-drive control
Setting
parameter
SV017/fdir
Master axis
Normally, set the setting value
for control.
SV017/vdir2 Set "0". Set "0".
SV025/pen, ent Set AAxx.
Set DDxx.
SV028
Normally, set the setting value
for control.
Slave axis
If the master axis and linear motor pole
directions are the same, set to the same
setting as SV017/fdir for the master axis.
If the pole directions are reversed, set the
opposite setting as SV017/fdir for the master
axis.
Set the pole shift amount when DC excitation
is carried out with the connected detector.
CAUTION
1. When carrying out DC excitation with the parallel drive system, if the current
flows to the parallel axis the machine could break down or the accuracy may
not be satisfied.
2. When carrying out DC excitation with the parallel drive system, make sure
that current does not flow to the parallel axis.
4 - 29

4. Setup
(5) Settings when motor thermal is not connected
POINT
When driving the motor with a system connected to the MDS-B-HR, the servo
drive unit's protection function will activate if the motor reaches an abnormal
temperature.
If the system does not require the motor abnormal temperature detection, set
the following parameter to ignore the signal from the MDS-B-HR.
No.
Abbr.
SV034 SSF3
Parameter
name
Explanation
Servo Set the motor thermal with the following parameter.
function
selection 3 F E D C B A 9 8 7 6 5 4 3 2 1 0
ovsm toff os2 dcd mohn has2 has1
bit Meaning when set to 0 Meaning when set to 1
2 mohm HR motor thermal valid HR motor thermal invalid
4 - 30

4. Setup
4-2-7 Standard parameter list according to motor
(1) HC-H Series (2000, 3000r/min rating)
Motor
HC-H Standard motor
52 53 102 103 152 153 202 203 352 353 452 453 702 703 902 903 1102 1103 1502
Unit
name
05 05 10 10 20 20 20 35 35 45 45 70 70 90 90 110 150 150 185
SV001 - - - - - - - - - - - - - - - - - - -
SV002 - - - - - - - - - - - - - - - - - - -
SV003 47 47 47 47 47 47 47 47 47 47 47 47 47 47 47 47 47 47 47
SV004 125 125 125 125 125 125 125 125 125 125 125 125 125 125 125 125 125 125 125
SV005 75 75 75 75 75 75 75 75 75 75 75 75 75 75 75 75 75 75 75
SV006 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV007 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV008 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900
SV009 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096
SV010 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096
SV011 1024 1024 1024 1280 1024 1280 1024 1024 1024 768 1024 768 768 768 768 768 768 768 768
SV012 1024 1024 1024 1280 1024 1280 1024 1024 1024 768 1024 768 768 768 768 768 768 768 768
SV013 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500
SV014 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500
SV015 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100
SV016 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV017 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008
SV018 - - - - - - - - - - - - - - - - - - -
SV019 - - - - - - - - - - - - - - - - - - -
SV020 - - - - - - - - - - - - - - - - - - -
SV021 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60
SV022 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150
SV023 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6
SV024 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50
SV025 xxB0 xxC0 xxB1 xxC1 xxB2 xxC2 xxB3 xxC3 xxB4 xxC4 xxB5 xxC5 xxB6 xxC6 xxB7 xxC7 xxB8 xxC8 xxB9
SV026 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6
SV027 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV029 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV030 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV031 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV032 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV033 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010
SV034 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV035 0000 0000 0000 0000 0040 0040 0040 0040 0040 0040 0040 0040 0040 0000 0000 0000 0000 0000 0000
SV036 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV037 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV038 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV039 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV040 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV041 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV042 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV043 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV044 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV045 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV046 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV047 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100
SV048 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV049 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15
SV050 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV051 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV052 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV053 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV054 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV055 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV056 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV057 281 281 281 281 281 281 281 281 281 281 281 281 281 281 281 281 281 281 281
SV058 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV059 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV060 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV061 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV062 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV063 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV064 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV065 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
(System parameter area)
SV081 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV082 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV083 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV084 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV085 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV086 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV087 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV088 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV089
:
SV100
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Note) Set the detector model in the xx of SV025. Normally, "00", "11" or "22" is set.
4 - 31

4. Setup
(2) Linear servomotor LM-N Series
Motor
LM-N Series (Natural cooling)
LM-N Series (Oil-cooled)
LM-NP5G-60P-X0
LM-NP5G-60P-X0
Unit name 150 150
SV001 1 1
SV002 1 1
SV003 47 47
SV004 125 125
SV005 - -
SV006 0 0
SV007 0 0
SV008 1364 1364
SV009 10240 10240
SV010 10240 10240
SV011 1024 1024
SV012 1024 1024
SV013 500 500
SV014 500 500
SV015 0 0
SV016 0 0
SV017 8xxx 8xxx
SV018 60 60
SV019 - -
SV020 - -
SV021 60 60
SV022 150 150
SV023 20 20
SV024 50 50
SV025 Xx08 Xx18
SV026 20 20
SV027 4000 4000
SV028 - -
SV029 0 0
SV030 0 0
SV031 0 0
SV032 0 0
SV033 0000 0000
SV034 0003 0003
SV035 0000 0000
SV036 0000 0000
SV037 0 0
SV038 0 0
SV039 0 0
SV040 0 0
SV041 0 0
SV042 0 0
SV043 0 0
SV044 0 0
SV045 0 0
SV046 0 0
SV047 100 100
SV048 0 0
SV049 15 15
SV050 0 0
SV051 0 0
SV052 0 0
SV053 0 0
SV054 0 0
SV055 0 0
SV056 0 0
SV057 281 281
SV058 0 0
SV059 0 0
SV060 0 0
SV061 0 0
SV062 0 0
SV063 0 0
SV064 0 0
OS1
OS2
4 - 32

4. Setup
4-3 Spindle drive unit initial parameter settings
Refer to each CNC instruction manual for details on the operation methods and system specification
parameter settings.
4-3-1 List of spindle parameters
(Note 1) The settings of parameters with an asterisk in the CNG column can be changed without
turning the CNC power OFF.
(Note 2) "DEC" in the TYP column means that the parameter is set with a decimal, and "HEX" means
that the parameter is set with a hexadecimal.
(Note 3) If "0002" is set for SP257 (RPM)", the speed (r/min) set with each parameter will be doubled.
(Example: If SP017 is set to 20000r/min, the motor's actual maximum speed will be
40000r/min.)
Name Abbr. Parameter name Details TYP
SP001 PGM Magnetic sensor,
motor built-in
encoder orientation
position loop gain
SP002 PGE Encoder orientation
position loop gain
SP003
PGC
Position gain during
C-axis non-cutting
SP004 OINP Orientation
in-position width
SP005 OSP Orientation mode
changing speed
limit value
SP006 CSP Orientation mode
deceleration rate
SP007
OPST Position shift
amount for
orientation
As the set value is larger, the orientation time
becomes shorter and servo rigidity is increased.
However, vibration is increased and the machine
becomes likely to overshoot.
As the set value is larger, the orientation time
becomes shorter and servo rigidity is increased.
However, vibration is increased and the machine
becomes likely to overshoot.
Set the position loop gain for the C-axis non-cutting
mode. (Valid when the control input 1 bit F is set to
"0" in the C-axis control mode.)
Set the position error range in which an orientation
completion signal is output.
Set the motor speed limit value to be used when
the speed loop is changed to the position loop in
orientation mode.
When this parameter is set to "0", SP017 (TSP)
becomes the limit value.
If the orientation is not stable when using a
machine with two or more gear stages with a large
deceleration rate, the operation may be stabilized
by setting the SP037 bit D to "1".
As the set value is larger, the orientation time
becomes shorter. However, the machine becomes
likely to overshoot.
Set the stop position for orientation.
(1) Motor built-in encoder and encoder orientation
Set a value obtained by dividing 360° by 4096.
(2) Magnetic sensor orientation
Divide -5°C to +5° by 1024, and set 0° as "0".
C
N
G
Standard
setting
Unit
Permissible
setting range
DEC * 100 1/10
s -1 0 to 2000
DEC * 100 1/10
s -1 0 to 2000
DEC * 15 s -1 0 to 200
DEC * 16 1/16° 0 to 2880
DEC 0 r/min 0 to 32767
DEC * 20 0 to 1000
DEC * 0
(1) -4095 to
4095
(2) -512 to
512
SP008 Not used. Set "0". – 0 – –
SP009 PGT Synchronous tap
position loop gain
SP010 PGS Spindle
synchronization
position loop gain
Set the spindle position loop gain for synchronous
tapping.
Set the spindle position loop gain for spindle
synchronization.
DEC * 15 s -1 0 to 200
DEC * 15 s -1 0 to 200
SP011 to SP016 Not used. Set "0". – 0 – –
SP017 TSP Maximum motor
speed
Set the maximum motor speed. DEC 6000 r/min 1 to 32767
SP018 ZSP Motor zero speed Set the motor speed for which zero-speed output
is performed.
The spindle will coast at speeds less than the set
speed.
DEC 50 r/min 1 to 1000
4 - 33

4. Setup
Name Abbr. Parameter name Details TYP
SP019
SP020
CSN1 Speed command
acceleration/
deceleration time
constant
SDTS Speed detection set
value
Set the time constant for a speed command from
"0" to the maximum speed.
(This parameter is invalid in position loop mode.)
Set the motor speed for which speed detection
output is performed.
Usually, the setting value is 10% of SP017 (TSP).
C
N
G
Standard
setting
Unit
Permissible
setting range
DEC 30 10ms 1 to 32767
DEC 600 r/min 0 to 32767
SP021 TLM1 Torque limit 1 Set the torque limit rate for torque limit signal 001. DEC * 10 % 1 to 120
SP022 VGNP1 Speed loop gain Set the speed loop proportional gain in speed
proportional term control mode. When the gain is increased,
under speed control response is improved but vibration and sound
become larger.
SP023 VGNI1 Speed loop gain
integral term under
speed control
Set the speed loop integral gain in speed control
mode. Normally, this is set so that the ratio in
respect to SP022 (VGNP1) is approximately
constant.
DEC 63 rad/s 1 to 1000
DEC 60 1/10
rad/s
SP024 Not used. Set "0". DEC 0 –
SP025
SP026
SP027
SP028
SP029
SP030
SP031
SP032
GRA1 Spindle gear teeth
count 1
GRA2 Spindle gear teeth
count 2
GRA3 Spindle gear teeth
count 3
GRA4 Spindle gear teeth
count 4
GRB1 Motor shaft gear
teeth count 1
GRB2 Motor shaft gear
teeth count 2
GRB3 Motor shaft gear
teeth count 3
GRB4 Motor shaft gear
teeth count 4
Set the number of gear teeth of the spindle
corresponding to gear 00.
• When spindle speed is slower than motor speed
GRA[ ] > GRB [ ] will be established.
• When GRA or GRB is larger than 32767
Adjust to less than 32767
Set the number of gear teeth of the spindle
corresponding to gear 01.
Set the number of gear teeth of the spindle
corresponding to gear 10.
Set the number of gear teeth of the spindle
corresponding to gear 11.
Set the number of gear teeth of the motor shaft
corresponding to gear 00.
Set the number of gear teeth of the motor shaft
corresponding to gear 01.
Set the number of gear teeth of the motor shaft
corresponding to gear 10.
Set the number of gear teeth of the motor shaft
corresponding to gear 11.
1 to 1000
DEC 1 1 to 32767
DEC 1 1 to 32767
DEC 1 1 to 32767
DEC 1 1 to 32767
DEC 1 1 to 32767
DEC 1 1 to 32767
DEC 1 1 to 32767
DEC 1 1 to 32767
4 - 34

4. Setup
Name Abbr. Parameter name Details TYP
SP033 SFNC1 Spindle function 1 Set the spindle function 1 in bit units.
Refer to the section "4-3-2" for details.
SP034 SFNC2 Spindle function 2 Set the spindle function 2 in bit units.
Refer to the section "4-3-2" for details.
SP035 SFNC3 Spindle function 3 Set the spindle function 3 in bit units.
Refer to the section "4-3-2" for details.
SP036 SFNC4 Spindle function 4 Set the spindle function 4 in bit units.
Refer to the section "4-3-2" for details.
SP037 SFNC5 Spindle function 5 Set the spindle function 5 in bit units.
Refer to the section "4-3-2" for details.
SP038 SFNC6 Spindle function 6 Set the spindle function 6 in bit units.
Refer to the section "4-3-2" for details.
SP039 ATYP Drive unit type Set the drive unit type.
Set the compatible unit No. from the standard
motors indicated in section "4-3-3".
SP040 MTYP Motor type This parameter is valid when SP034 (SFNC2) bit0
is set to "0".
Set the compatible motor No. from the standard
motors indicated in section "4-3-3". (Set 0 for the
CH Series.)
SP041 PTYP Power supply unit
type
SP042 CRNG C-axis detector
range
SP043 TRNG Synchronous tap,
spindle
synchronization
detection range
SP044 TRANS NC communication
frequency
SP045 CSNT Fixed control
constant
SP046 CSN2 Speed command
dual cushion
SP047 SDTR Speed detection
reset value
C
N
G
Standard
setting
Unit
Permissible
setting range
HEX 0000 0000 to FFFF
HEX 0000 0000 to FFFF
HEX 0000 0000 to FFFF
HEX 0000 0000 to FFFF
HEX 0000 0000 to FFFF
HEX 0000 0000 to FFFF
HEX 0000 0000 to 0011
HEX 0000 0000 to 001F
Set the power supply unit type.
Set according to the table in section "4-3-3". Set 0
when not connecting the unit.
HEX 0000 0000 to FFFF
Set to 0 unless especially designated. DEC 0 0 to 11
Set to 0 unless especially designated. DEC 0 0 to 7
Set a frequency of data communication with NC. DEC Standard=0
Special=1028
-32768 to
32767
Set to 0 unless especially designated. DEC * 0 0 to 1000
For an acceleration/deceleration time constant
defined in SP019 (CSN1), this parameter is used
to provide smooth movement only at the start of
acceleration/deceleration. As the value of this
parameter is smaller, it moves smoother but the
acceleration/deceleration time becomes longer.
To make this parameter invalid, set "0".
Set the reset hysteresis width for a speed
detection set value defined in SP020 (SDTS).
SP048 SUT Speed reach range Set the speed deviation rate with respect to the
commanded speed for output of the speed reach
signal.
SP049 TLM2 Torque limit 2 Set the torque limit rate for the torque limit signal
010.
SP050 TLM3 Torque limit 3 Set the torque limit rate for the torque limit signal
011.
SP051 TLM4 Torque limit 4 Set the torque limit rate for the torque limit signal
100.
SP052 TLM5 Torque limit 5 Set the torque limit rate for the torque limit signal
101.
SP053 TLM6 Torque limit 6 Set the torque limit rate for the torque limit signal
110.
SP054 TLM7 Torque limit 7 Set the torque limit rate for the torque limit signal
111.
SP055 SETM Excessive speed
deviation timer
Set the timer value until the excessive speed
deviation alarm is output. The value of this
parameter should be longer than the acceleration/
deceleration time.
Set a value approx. 1.5-fold of the acceleration/
deceleration time.
DEC 0 0 to 1000
DEC 30 r/min 0 to 1000
DEC 15 % 0 to 100
DEC * 20 % 0 to 120
DEC * 30 % 0 to 120
DEC * 40 % 0 to 120
DEC * 50 % 0 to 120
DEC * 60 % 0 to 120
DEC * 70 % 0 to 120
DEC 12 s 0 to 60
4 - 35

4. Setup
Name Abbr. Parameter name Details TYP
SP056 PYVR Variable excitation Set the minimum value of the variable excitation
rate. Select a smaller value when gear noise is too
high. However, a larger value is effective for
impact response.
• If "50" or higher is set to improve the impact load
response, check that there are no problems with
the gear noise, motor excitation noise, vibration
during position control excluding C-axis control,
and vibration during orientation stop.
• If "50" or less is set to improve the gear noise,
motor excitation noise or vibration during
orientation, check that there are no problems
with the impact load response, cutting accuracy
during position control excluding C-axis control,
and the holding force during orientation stop. If
there is any problem with the vibration or cutting
accuracy during position control excluding
C-axis control, or if an insufficient rigidity or
vibration occurs during orientation stop, set the
variable excitation minimum value for only
position control and orientation separately in
SP116.
(Practical setting range: 20 to 75)
SP057 STOD Fixed control
constant
SP058 SDT2 Fixed control
constant
SP059 MKT Coil changeover
base cutoff timer
SP060 MKT2 Current limit timer
after coil
changeover
SP061 MKIL Current limit value
after coil
changeover
Set the value shown in the parameter list.
The standard setting is 7.
Set the value shown in the parameter list.
The standard setting is 0.
Set the base cutoff time when changing the
contactor during coil changeover. If the value is
too small, the contactor could melt. The value
must be set higher than the standard setting value
(150ms) when controlling a large contactor. Set
the maximum delay time for ON/OFF of the
contactor + 50ms.
Set the time to limit the current after changing the
contactor when the coil is changed.
Set the current limit value after changing the
contactor when the coil is changed.
The limit time is SP060.
C
N
G
Standard
setting
Unit
Permissible
setting range
DEC * 50 % 0 to 100
DEC 7 r/min 0 to 50
DEC 0 r/min 0 to 32767
DEC 150 ms 0 to 10000
DEC 500 ms 0 to 10000
DEC 75 % 0 to 120
SP062 – – Not used. Set "0". DEC 0 – –
SP063 OLT Overload alarm Set the detection time constant for the motor DEC 60 s 0 to 1000
detection time overload alarm detection process.
SP064 OLL Overload alarm
detection level
Set the detection level for the motor overload
alarm detection process.
DEC 120 % 0 to 180
4 - 36

4. Setup
Name Abbr. Parameter name Details TYP C N
G
SP065 VCGN1 Target value of Set the magnification of speed loop proportional
variable speed loop gain with respect to SP022 (VGNP1) at the
proportional gain maximum motor speed defined in SP017 (TSP).
SP066 VCSN1 Change starting
speed of variable
speed loop
proportional gain
Set the speed when the speed loop proportional
gain change starts.
Proportional gain
SP022
Standard
setting
Unit
Permissible
setting range
DEC 100 % 0 to 100
DEC 0 r/min 0 to 32767
SP022 ×
SP065
100
SP066
SP017
Speed
SP067 VIGWA Change starting
speed of variable
current loop gain
SP068 VIGWB Change ending
speed of variable
current loop gain
SP069 VIGN Target value of
variable current
loop gain
Set the speed where the current loop gain change
starts.
Set the speed where the current loop gain change
ends.
Set the magnification of current loop gain (torque
component and excitation component) for a
change ending speed defined in SP068 (VIGWB).
When this parameter is set to "0", the magnification
is 1.
Gain
SP069 × (1/16)-fold
DEC 0 r/min 0 to 32767
DEC 0 r/min 0 to 32767
DEC 0 1/16-
fold
0 to 32767
1-fold
SP067 SP068 SP017
Speed
SP070 FHz Machine resonance
suppression filter
frequency 1
Use the following table for reference when setting
SP067 to SP069.
Motor maximum
SP067 SP068 SP069
speed
(VIGWA) (VIGWB) (VIGN)
SP017 (TSP)
6000 or less 0 0 0
6001 to 8000 5000 8000 32
8001 or more 5000 10000 32
Observe the following when setting this parameter:
1) If the motor seems to hunt (high frequency
vibration) when rotating at high speeds,
decrement SP069 (VIGN) by "-8" at a time,
and set a value at which hunting does not
occur.
2) If the motor seems to groan (low frequency
vibration) when rotating at high speeds,
increment SP069 (VIGN) by "+8" at a time, and
set a value at which groaning does not occur.
3) If "AL32" (overcurrent) or "AL75" (overvoltage)
occurs when decelerating from the maximum
speed, decrement or increment SP069 (VIGN)
by "+8" or "-8" to a value where the alarm does
not occur.
4) If there is no problem when rotating at the
maximum speed, but phenomenon 1) or 2)
occurs during rotation in the medium-speed
range, change the SP067 (VIGWA) and
SP068 (VIGWB) setting.
Also refer to section 5-7. Spindle adjustment.
If mechanical vibration occurs during speed or
position control, set the frequency for suppressing
the vibration. Set a value higher than 100Hz. Set
"0" when not using this function.
DEC * 0 Hz 0 to 2250
4 - 37

4. Setup
Name Abbr. Parameter name Details TYP C N
G
SP071 VR2WA Fixed control
constant
SP072 VR2WB Fixed control
constant
SP073 VR2GN Fixed control
constant
SP074 IGDEC Fixed control
constant
SP075 R2KWS Fixed control
constant
SP076
FONS Machine resonance
suppression filter
operation speed
These parameters are determined by Mitsubishi.
Do not change them unless specially designated.
If the vibration increases while the motor is
stopped (ex., during orientation stop) when the
machine vibration suppression filter is activated
with SP070 and SP084, set this parameter to
activate the machine vibration suppression filter at
a speed higher than that set with this parameter.
The filter is valid in all speed ranges when "0" is
set.
Standard
setting
Unit
Permissible
setting range
DEC 0 r/min 0 to 32767
DEC 0 r/min 0 to 32767
DEC 0 r/min 0 to 32767
DEC 0 % 0 to 1000
DEC * 0 -32768 to
32767
DEC * 0 r/min 0 to 32767
SP077 TDSL Fixed control These parameters are determined by Mitsubishi. DEC 14 0 to 63
constant
Do not change them unless specially designated.
SP078 FPWM Fixed control
DEC 0 0 to 3
constant
SP079 ILMT Fixed control
DEC 0 0 to 32767
constant
SP080 SWTD Fixed control
DEC 0 0 to 32767
constant
SP081 – – Not used. Set "0". – 0
SP082 – – Not used. Set "0". – 0
SP083 VGPYR Fixed control These parameters are determined by Mitsubishi. DEC * 0 % 0 to 100
constant
Do not change them unless specially designated.
SP084 FHz2 Machine resonance If the machine vibrates during speed or position DEC * 0 Hz 0 to 2250
suppression filter
frequency 2
control, and the vibration cannot be eliminated
only with the previous machine resonance filter 1,
set the frequency for controlling the vibration here.
Set a value higher than 71Hz. Set "0" when not
using this function.
SP085 AIQM Fixed control These parameters are determined by Mitsubishi. DEC 0 % 0 to 150
constant
Do not change them unless specially designated.
SP086 AIQN Fixed control
DEC 0 r/min 0 to 32767
constant
SP087 DIQM Target value of Set the minimum value of variable torque limit at DEC 75 % 0 to 150
variable torque limit deceleration.
magnification at
deceleration
SP088 DIQN Speed for starting
change of variable
torque limit
magnification at
deceleration
Set the speed where the torque limit value at
deceleration starts to change.
Torque limit
100%
Inversely proportional
to speed
DEC 3000 r/min 0 to 32767
SP087
SP066
SP017
Speed
1) When using the high-speed rotation
(10000r/min or higher) specifications motor,
and occurrence of the "AL32" (overcurrent) or
"AL75" (overvoltage) alarm during deceleration
is not improved by changing the SP067
(VIGWA) to SP069 (VIGN) setting values,
decrement the SP087 (DIQM) value by "-15" at
a time until the alarms no longer occur.
2) If the above problems are not occurring, and the
deceleration time is longer than the acceleration
time, change the SP087 (DIQM) value following
the acceleration/deceleration adjustment
procedures explained in section "5-7 Spindle
adjustment". Adjust the deceleration time so
that it is the same as the acceleration time.
4 - 38

4. Setup
Name Abbr. Parameter name Details TYP C N
G
Standard
setting
Unit
Permissible
setting range
SP089 to SP092 Not used. Set "0". DEC 0 –
SP093 ORE Fixed control These parameters are determined by Mitsubishi. DEC 0 0 to 32767
constant
Do not change them unless specially designated.
SP094 LMAV Load meter output Set the filter time constant of load meter output. DEC 0 4ms 0 to 32767
filter
When "0" is set, a filter time constant is set to
200ms.
SP095 VFAV Fixed control These parameters are determined by Mitsubishi. DEC 0 –
constant
Do not change them unless specially designated
SP096 EGAR Encoder gear ratio Set the gear ratio between the spindle side and
the encoder side (except for the motor-built-in
encoder) as indicated below.
1 : 1 Setting value = 0
1 : 2 Setting value = 1
1 : 4 Setting value = 2
1 : 8 Setting value = 3
1 : 16 Setting value = 4
2 : 1 Setting value = -1
4 : 1 Setting value = -2
3 : 1 Setting value = -3
DEC 0 -3 to 4
Name Abbr. Parameter name Details TYP
SP097 SPECO Orientation
specification
Set the orientation specifications in bit units.
Refer to the section "4-3-2".
SP098 VGOP Speed loop gain Set the speed loop proportional gain in orientation
proportional term in mode.
orientation mode When this parameter value is increased, response
is improved but vibration and sound become
larger.
SP099 VGOI Speed loop gain
integral term in
orientation mode
Set the speed loop integral gain in orientation
mode. Set so that the percentage in respect to
SP098 (VGOP) is approximately constant.
(Setting value approx. 1:1)
SP100 VGOD Speed loop gain Set the speed loop gain delay advance gain in
delay advance term orientation mode. The impact responsiveness will
in orientation mode increase when the value is increased, but the
deviation of the orientation stop position from
forward run, and the orientation stop position from
reverse run could increase. PI control is applied
when "0" is set. This is effective for a machine with
large frictional torque, and for reducing the
inconsistency in orientation stop position. Note
that when "0" is set, a torque limit signal must
always be input for clamping if the spindle is
mechanically clamped during orientation stop. Set
"15" if there are no particular problems.
SP101 DINP Orientation dummy
in-position width
SP102 OODR Excessive error
value in orientation
mode
SP103 FTM Positioning
completion OFF
time timer
This is valid when SP097 (SPEC0) -bit2 is set to
"1". If this value is set larger than the normal
in-position width (SP004:OINP) to shorten the
ATC time, it will appear that orientation is
completed earlier. However, if the value is too
large, the ATC operation may start before the
spindle position reaches the ATC position.
Carefully check the operation when using this
parameter.
Set the excessive error width for detecting the
excessive error alarm during orientation. Normally
set "32767". The excessive error alarm will not be
output when "0" is set.
Set the time for forcedly turning OFF the index
positioning completion signal (different from the
orientation completion signal) after the leading
edge of the indexing start signal.
C
N
G
Standard
setting
Unit
Permissible
setting range
HEX 0000 0000 to FFFF
DEC 63 rad/s 0 to 2000
DEC 60 1/10
rad/s
DEC 15 1/10
rad/s
0 to 2000
0 to 1000
DEC 16 1/16° 0 to 2880
DEC 32767
1/4
pulse
0 to 32767
( 1 pulse = 0.088° )
DEC 200 ms 0 to 10000
4 - 39

4. Setup
Name Abbr. Parameter name Details TYP
SP104 TLOR Torque limit value
for orientation
servo locking
SP105 IQGO Current loop gain
magnification 1 in
orientation mode
SP106 IDGO Current loop gain
magnification 2 in
orientation mode
SP107 CSP2 Deceleration rate 2
in orientation mode
SP108 CSP3 Deceleration rate 3
in orientation mode
SP109 CSP4 Deceleration rate 4
in orientation mode
SP110 WCML Fixed control
constant
SP111 WDEL Fixed control
constant
SP112 WCLP Fixed control
constant
SP113 WINP Fixed control
constant
SP114 OPER Orientation pulse
miss check value
Set the torque limit value for orientation in-position
output. The external torque limit value will have
the priority when the external torque limit signal is
input.
Set the magnification for current loop gain (torque
component) at orientation completion. The
magnification will be 100% (1-fold) when "100" is
set. If vibration occurs during orientation stop, and
the vibration cannot be eliminated by changing the
SP001 (PGM), SP002 (PGE), SP098 (VGOP) and
SP099 (VGOI) settings, the state may be improved
by changing this parameter.
1) Reduce the setting value when minute
vibration occurs in the frequency.
2) Increase the setting value if minute vibration
occurs at low frequencies. Always change the
SP106 (IDGO) value to the same value when
changing this parameter. (Practical setting
range: 50 to 300)
Set the magnification for current loop gain
(excitation component) at orientation completion.
Refer to SP105 (IQGO) for details on setting this
parameter.
Set the deceleration rate in orientation mode
corresponding to the gear 01.
When this parameter is set to "0", the rate will be
the same as SP006 (CSP).
Set the deceleration rate in orientation mode
corresponding to the gear 10.
When this parameter is set to "0", the rate will be
the same as SP006 (CSP).
Set the deceleration rate in orientation mode
corresponding to the gear 11.
When this parameter is set to "0", the rate will be
the same as SP006 (CSP).
These parameters are determined by Mitsubishi.
Do not change them unless specially designated.
If the pulse miss value during orientation stop
exceeds this setting, the alarm "5C" will occur.
(Set 0 to invalidate.)
The orientation start memo setting must always be
invalidated when this parameter is set to a value
other than "0".
(Set SP038 (SFNC6) bit6 to "0".) Establish the
following expression when using this setting.
SP114 setting value ≥ SP004 setting value/16/
(360/4096) + 20, or set a multiple of 4 larger or
equal to the value calculated with the right side
when using PLG orientation.
SP115 OPS2 Index clamp speed When the control input 4 bitC is set to "1", the
value set in this parameter is used for the
orientation changeover speed instead of SP005
(OSP). In all other cases, if SP097 (SPECO) -bit4
is set to "1", the maximum spindle speed for
indexing is set here.
C
N
G
Standard
setting
Unit
Permissible
setting range
DEC 100 % 0 to 120
DEC 100 % 0 to 1000
DEC 100 % 0 to 1000
DEC * 0 0 to 1000
DEC * 0 0 to 1000
DEC * 0 0 to 1000
DEC * 0 Fold 0 to 32767
DEC * 0 1/256
fold
0 to 32767
DEC * 0 r/min 0 to 32767
DEC * 0 360/
4096
fold
DEC * 0 360/
4096°
0 to 32767
0 to 32767
DEC 0 r/min 0 to 32767
4 - 40

4. Setup
Name Abbr. Parameter name Details TYP
SP116 OPYVR Variable constant
rate during position
loop
SP117 ORUT Orientation
changeover speed
reach range
SP118 ORCT Number of
orientation retries
SP119 MPGH Orientation position
loop gain H coil
magnification
SP120 MPGL Orientation position
loop gain L coil
magnification
SP121 MPCSH Orientation
deceleration rate H
coil magnification
SP122 MPCAL Orientation
deceleration rate L
coil magnification
SP123 MGD0 Magnetic sensor
output peak value
SP124 MGD1 Magnetic sensor
linear zone width
SP125 MGD2 Magnetic sensor
changeover point
When the control input 4-bitB is set to "1", the
value set in this parameter is used for the
minimum excitation rate instead of SP056 (PYVR).
In all other cases, if this parameter is set to a value
other than "0", the value set in this parameter will
be used instead of SP056 (PYVR) for the
minimum excitation rate during position control
including orientation control (excluding C-axis
control).
Set this value when using a machine with large
inertia, and the motor continues to run when
orientation is executed from the stopped state, or if
it takes a long time for orientation to stop.
Normally set this to "0".
Set the number of times to retry orientation when
an orientation pulse miss occurs. This parameter
is invalid when SP114 (OPER) is set to "0". Alarm
"A9" will appear while retrying orientation, and
alarm "5C" will appear if there is a pulse miss even
after the designated number of retires.
Set the orientation position loop gain for the H coil
when using the coil changeover motor. Set the
magnification in respect to SP001 (PGM) and
SP002 (PGE), using "256" as 1-fold. The
magnification will also be 1-fold when "0" is set.
This is used to shorten the orientation time for
each coil. However, normally the time is adjusted
with SP121 (MPCSH). Use this parameter when
the time cannot be adjusted sufficiently with
SP121.
Set the orientation position loop gain for the L coil
when using the coil changeover motor. The setting
method is the same as SP119 (MPGH).
When using the coil changeover motor, set the
deceleration rate for orientation with the H coil. Set
the magnification in respect to SP006 (CSP),
using "256" as 1-fold. The magnification will also
be 1-fold when "0" is set. This is used to shorten
the orientation time for each coil.
When using the coil changeover motor, set the
deceleration rate for orientation with the L coil.
The setting method is the same as SP121
(MPCSH).
This parameter is used for adjusting the operation
during magnetic sensor orientation. Set the peak
value of the magnetic sensor output. If the gap
between the sensor and magnet is small, set a
large value. If the gap is large, set a small value. If
the operation stops just before the stop point
during orientation, change this parameter so that
the target point is reached. Use the standard
setting if there are no problems.
This parameter is used for adjusting the operation
during magnetic sensor orientation. Set the width
of the magnetic sensor linear zone. If the
installation radius of the magnet is large, set a
small value. If the radius is small, set a large
value. Use the standard setting if there are no
problems during orientation.
This parameter is used for adjusting the operation
during magnetic sensor orientation. Set the
distance from the target stop point for changing
the position feedback to magnetic sensor output.
Normally, a value that is approx. half of SP124
(MGDI) is set.
C
N
G
Standard
setting
Unit
Permissible
setting range
DEC * 0 % 0 to 100
DEC * 0 r/min 0 to 32767
DEC * 0 times 0 to 100
DEC * 0 1/256
fold
DEC * 0 1/256
fold
DEC * 0 1/256
fold
DEC * 0 1/256
fold
DEC
DEC
DEC
* Standard
magnet
= 542
Compact
magnet
= 500
* Standard
magnet
= 768
Compact
magnet
= 440
* Standard
magnet
= 384
Compact
magnet
= 220
0 to 2560
0 to 2560
0 to 2560
0 to 2560
– 0 to 10000
– 0 to 10000
– 0 to 10000
SP126 to SP128 Not used. Set "0". DEC 0 – –
4 - 41

4. Setup
Name Abbr. Parameter name Details TYP
SP129 SPECC
SP130 PGC1
SP131 PGC2
SP132 PGC3
SP133 PGC3
C-axis specification Select the specifications for C-axis control with bit
correspondence. Refer to section 4-3-2 for details.
1st position loop Set the position loop gain for C-axis cutting (when
gain for C-axis control input 1 bitF is "1").
cutting
Select SP130 to 132 according to the control input
3 bit combination.
2nd position loop
gain for C-axis
cutting
3rd position loop
gain for C-axis
cutting
Position loop gain
when stopped
during C-axis
cutting
SP134 VGCP0 Speed loop
proportional item
for C-axis
non-cutting
SP135 VGCI0
SP136 VGCD0
SP137 VGCP1
SP138 VGCI1
SP139 VGCD1
SP140 VGCP2
SP141 VGCI2
SP142 VGCD2
SP143 VGCP3
SP144 VGCI3
SP145 VGCD3
SP146 VGCP4
Speed loop gain
integral item for
C-axis non-cutting
Speed loop gain
delay/advance item
for C-axis
non-cutting
1st speed loop gain
proportional time
for C-axis cutting
1st speed loop gain
integral item for
C-axis cutting
1st speed loop gain
delay/advance item
for C-axis cutting
2nd speed loop
gain proportional
time for C-axis
cutting
2nd speed loop
gain integral item
for C-axis cutting
2nd speed loop
gain delay/advance
item for C-axis
cutting
3rd speed loop gain
proportional time
for C-axis cutting
3rd speed loop gain
integral item for
C-axis cutting
3rd speed loop gain
delay/advance item
for C-axis cutting
Speed loop gain
proportional item
when stopped
during C-axis
cutting
[Control input 3]
bit4 bit3 bit2 bit1 bit0
Position loop
gain selection
0 1 1 0 0 SP130
0 1 1 0 1 SP131
0 1 1 1 0 SP132
Set the position loop gain when stopped during
C-axis cutting (when control input 1bitF is "1").
Regardless of the control input 3 bit0 and 1 states,
the value set in this parameter will be valid when
stopping during C-axis cutting.
Proportional item:
Set the speed loop proportional gain for the
C-axis. The responsiveness will increase when
the value is increased, but vibration and noise
will increase.
Integral item:
Set the speed loop integral gain for the C-axis.
Delay/advance item:
Set the speed loop delay/advance gain for the
C-axis. The impact responsiveness will increase
when the value is increased, but the stop
position may become more inconsistent.
"PI" control is applied when "0" is set. Set this
when the machine's frictional torque is large, or
to improve the accuracy during C-axis cutting.
Note that when "0" is set, if the spindle is
mechanically stopped during spindle stopping,
always input a torque limit signal when fixing the
spindle.
C
N
G
Standard
setting
Unit
Permissible
setting range
HEX 0000 0000 to FFFF
DEC * 15 s -1 0 to 200
DEC * 15 s -1 0 to 200
DEC * 15 s -1 0 to 200
DEC * 15 s -1 0 to 200
DEC 63 rad/s 0 to 5000
DEC 60 1/10
rad/s
DEC 15 1/10
rad/s
0 to 5000
0 to 5000
DEC 63 rad/s 0 to 5000
DEC 60 1/10
rad/s
DEC 15 1/10
rad/s
0 to 5000
0 to 5000
The selected parameter No. for each of the above
gains depends on the status of the control input 1
and 3 bit for C-axis control. DEC 63 rad/s 0 to 5000
[Control input 1, 3]
Control
input 1 Control input 3 Gain selection
bitF bit4 bit3 bit2 bit1 bit0 Movement
command
present
0 0 1 1
0
or
1
0
or
1
1 0 1 1 0 0
1 0 1 1 0 1
1 0 1 1 1 0
1 0 1 1 1 1
SP134
SP135
SP136
SP137
SP138
SP139
SP140
SP141
SP142
SP143
SP144
SP145
SP137
SP138
SP139
Movement
command
0
Same as
left
SP146
SP147
SP148
DEC 60 1/10
rad/s
DEC 15 1/10
rad/s
0 to 5000
0 to 5000
DEC 63 rad/s 0 to 5000
DEC 60 1/10
rad/s
DEC 15 1/10
rad/s
0 to 5000
0 to 5000
DEC 63 rad/s 0 to 5000
4 - 42

4. Setup
Name Abbr. Parameter name Details TYP
SP147 VGCI4
SP148 VGCD4
SP149 CZRN
SP150 CPDT
SP151 CPSTL
SP152 CPSTH
SP153 CINP
Speed loop gain
integral item when
stopped during
C-axis cutting
Speed loop gain
delay/advance item
when stopped
during C-axis
cutting
C-axis zero point
return speed
C-axis zero point
return deceleration
rate
C-axis zero point
return position shift
amount (Low byte)
C-axis zero point
return position shift
amount (High byte)
C-axis in-position
width
SP154 CODRL Excessive error
width for C-axis
(Low byte)
SP155 CODRH Excessive error
width for C-axis
(High byte)
SP156 OVSH
Fixed control
constant
This is valid when the SP129 (SPECC) bitE is set
to "0".
Set the speed for changing from the speed loop to
the position loop during C-axis automatic zero
point return.
This is valid when the SP129 (SPECC) bitE is set
to "0".
Set the deceleration rate for decelerating from the
C-axis zero point return speed to the target stop
point.
Decrease the setting if machine sways when
stopping.
This is valid when the SP129 (SPECC) bitE is set
to "0".
Set the C-axis zero point position.
Set the position error range for outputting the
in-position signal during C-axis control.
C
N
G
Standard
setting
Unit
DEC 60 1/10
rad/s
DEC 15 1/10
rad/s
Permissible
setting range
0 to 5000
0 to 5000
DEC * 50 r/min 0 to 500
DEC * 1 0 to 10000
HEX * 0 1/
1000°
HEX * 0
HEX * 03E8 1/
1000°
Set the excessive error width for the C-axis. HEX D4C0 1/
1000°
These parameters are determined by Mitsubishi.
Set to "0" unless especially designated.
HEX 0001
SP157 to SP158 Not used. Set "0". DEC 0
SP159 CPY0
SP160 CPY1
SP161 IQGC0
SP162 IDGC0
SP163 IQGC1
SP164 IDGC1
SP165 PGC2
SP166 PGC3
Variable excitation
rate during C-axis
non-cutting
Variable excitation
rate during C-axis
cutting
Current loop gain
magnification 1 for
C-axis non-cutting
Current loop gain
magnification 2 for
C-axis non-cutting
Current loop gain
magnification 1 for
C-axis cutting
Current loop gain
magnification 2 for
C-axis cutting
C-axis position loop
gain 2
C-axis position loop
gain 3
Set the minimum value of the variable excitation
rate during C-axis non-cutting (when control input
1 bitF is "0").
Set the minimum value of the variable excitation
rate during C-axis cutting (when control input 1
bitF is "1").
Set the magnification of the current loop gain
(torque amount) during C-axis non-cutting (when
control input 1 bitF is "0").
Set the magnification of the current loop gain
(excitation amount) during C-axis non-cutting
(when control input 1 bitF is "0").
Set the magnification of the current loop gain
(torque amount) during C-axis cutting (when
control input 1 bitF is "1").
Set the magnification of the current loop gain
(excitation amount) during C-axis cutting (when
control input 1 bitF is "1").
Set the 2nd position loop gain for carrying out
SHG control during C-axis control. This setting
value is valid for both non-cutting and cutting.
Set the 3rd position loop gain for carrying out SHG
control during C-axis control. This setting value is
valid for both non-cutting and cutting.
0 to
FFFFFFFF
0 to FFF
0 to
FFFFFFFF
DEC * 0 0.1% 0 to 1000
DEC * 50 % 0 to 100
DEC * 100 % 0 to 100
DEC 100 % 0 to 1000
DEC 100 % 0 to 1000
DEC 100 % 0 to 1000
DEC 100 % 0 to 1000
DEC * 0 s -1 0 to 999
DEC * 0 s -1 0 to 999
4 - 43

4. Setup
Name Abbr. Parameter name Details TYP
SP167 PGU
SP168 VGUP
SP169 VGU1
SP170 VGUD
Position loop gain
during increased
spindle holding
force
Speed loop gain
proportional item
during increased
spindle holding
force
Speed loop gain
integral item during
increased spindle
holding force
Set the position loop gain when the disturbance
observer is validated during C-axis control (when
control input 4 bitF is "1").
This setting value is valid for both non-cutting and
cutting.
Set the speed loop proportional gain when the
disturbance observer is validated during C-axis
control (when control input 4 bitF is "1").
This setting value is valid for both non-cutting and
cutting.
Set the speed loop integral gain when the
disturbance observer is validated during C-axis
control (when control input 4 bitF is "1").
This setting value is valid for both non-cutting and
cutting.
Speed loop gain Set the speed loop delay/advance gain when the
delay/advance item disturbance observer is validated during C-axis
during increased control (when control input 4 bitF is "1").
spindle holding This setting value is valid for both non-cutting and
force
cutting.
C
N
G
Standard
setting
Unit
Permissible
setting range
DEC 15 s -1 0 to 200
DEC 0 rad/s 0 to 5000
DEC 0 1/10
rad/s
DEC 0 1/10
rad/s
SP171 to SP176 Not used. Set "0". 0
0 to 5000
0 to 5000
Name Abbr. Parameter name Details TYP
SP177 SPECS Spindle
specifications for
spindle
synchronization
Select the spindle specifications for spindle
synchronous control with bit correspondence.
Refer to the section "4-3-2" for details.
SP178 VGSP Spindle
Set the speed loop proportional gain in spindle
synchronous speed synchronous mode.
loop gain
proportional term
The responsiveness will increase when the value
is increased, but the vibration and noise will also
increase.
SP179 VGSI Spindle
Set the speed loop integral gain in spindle
synchronous speed synchronous mode.
loop gain integral
term
SP180 VGSD Spindle
Set the speed loop delay advance gain in spindle
synchronous speed synchronous mode.
loop gain delay
advance term
The impact responsiveness will increase when the
value is increased, but the stop position may
become more inconsistent.
"PI" control is applied when "0" is set. Set "15" if
there are no problems.
SP181 VCGS Spindle
synchronous target
value of variable
speed loop
proportional gain
SP182 VCSS Spindle
synchronous
change starting
speed of variable
speed loop
proportional gain
Set the percentage of the speed loop proportional
gain in respect to the maximum speed set in
SP178 (VGSP) for spindle synchronization SP017
(TSP).
Set the speed to start changing the speed loop
proportional gain during spindle synchronization.
SP178
SP178 × (SP181/100)
Proportional gain
C
N
G
Standard
setting
Unit
Permissible
setting range
HEX 0000 0000 to FFFF
DEC 63 rad/s 0 to 2000
DEC 60 1/10
rad/s
DEC 15 1/10
rad/s
0 to 2000
0 to 1000
DEC 100 % 0 to 100
DEC 0 r/min 0 to 32767
Speed
SP182
SP017
4 - 44

4. Setup
Name Abbr. Parameter name Details TYP
SP183 SYNV Spindle
synchronous
sync matching
speed
Set the error range of the speed command for
outputting the synchronous speed matching signal
when changing from the speed loop to the position
loop spindle synchronization.
SP184 Not used. Set "0". 0
SP185 SINP Spindle
synchronous
in-position width
SP186 SODR Spindle
synchronous
excessive error
width
SP187 IQGS Spindle
synchronous
current loop gain
magnification1
SP188 IDGS Spindle
synchronous
current loop gain
magnification 2
SP189 PG2S Position loop gain 2
for spindle
synchronous
SP190 PG3S Position loop gain 3
for spindle
synchronous
Set the error range of the position for outputting
the in-position signal during spindle
synchronization.
Set the excessive error width in the spindle
synchronous mode.
Set the magnification of current loop gain (torque
component) in the spindle synchronous mode.
Set the magnification of current loop gain
(excitation component) in the spindle synchronous
mode.
Set the second position loop gain for SGH control
during spindle synchronous.
Set the third position loop gain for SGH control
during spindle synchronous.
C
N
G
Standard
setting
Unit
Permissible
setting range
DEC * 20 r/min 0 to 1000
DEC * 16 1/16° 0 to 2880
DEC 32767
SP191 to SP192 Not used. Set "0". 0
Pulse 0 to 32767
(1 pulse
=
0.088°)
DEC 100 % 0 to 1000
DEC 100 % 0 to 1000
DEC * 0 s -1 0 to 999
DEC * 0 s -1 0 to 999
Name Abbr. Parameter name Details TYP
SP193 SPECT Synchronized
tapping
specifications
SP194 VGTP Synchronized
tapping speed loop
gain proportional
term
SP195 VGTI Synchronized
tapping speed loop
gain integral term
Set the synchronized tapping specifications in bit
units.
Refer to the section "4-3-2" for details.
Set the speed loop proportional gain in
synchronized tapping mode.
The responsiveness will increase when the value
is increased, but the vibration and noise will also
increase.
Set the speed loop integral gain in synchronized
tapping mode.
SP196 VGTD Synchronized Set the speed loop delay advance gain in
tapping speed loop synchronized tapping mode.
gain delay advance The impact responsiveness will increase when the
term
value is increased, but the stop position may
become more inconsistent.
"PI" control is applied when "0" is set. Set "15" if
there are no problems.
C
N
G
Standard
setting
Unit
Permissible
setting range
HEX 0000 0000 to FFFF
DEC 63 rad/s 0 to 2000
DEC 60 1/10
rad/s
DEC 15 1/10
rad/s
SP197 Not used. Set "0". 0
SP198 VCGT Synchronized Set the percentage of the speed loop proportional
tapping target value gain in respect to SP194 (VGTP) for the maximum
of variable speed
loop proportional
speed set in SP017 (TSP) during synchronous tap
control.
gain
0 to 2000
0 to 1000
DEC 100 % 0 to 100
4 - 45

4. Setup
Name Abbr. Parameter name Details TYP
SP199 VCST Synchronized
tapping change
starting speed of
variable speed loop
proportional gain
Set the speed where the speed loop proportional
gain change starts during synchronized tapping.
SP194
SP194 × (SP198/100)
Proportional gain
C
N
G
Standard
setting
Unit
Permissible
setting range
DEC 0 r/min 0 to 32767
SP200 FFC1 Synchronized
tapping acceleration
feed forward
gain
SP201 FFC2 Synchronized
tapping acceleration
feed forward
gain
SP202 FFC3 Synchronized
tapping acceleration
feed forward
gain
SP203 FFC4 Synchronized
tapping acceleration
feed forward
gain
Set the acceleration feed forward gain for
selection of gear 00 at synchronized tapping.
Set this value if the positional error with the Z axis
increases when the motor's acceleration rate
changes.
Set the acceleration feed forward gain for
selection of gear 01 at synchronized tapping.
The setting method is the same as SP200 (FFC1).
Set the acceleration feed forward gain for
selection of gear 10 at synchronized tapping.
The setting method is the same as SP200 (FFC1).
Set the acceleration feed forward gain for
selection of gear 11 at synchronized tapping.
The setting method is the same as SP200 (FFC1).
DEC * 0 % 0 to 1000
DEC * 0 % 0 to 1000
DEC * 0 % 0 to 1000
DEC * 0 % 0 to 1000
SP204 to SP213 Not used. Set "0". 0
SP214 TZRN Synchronized
tapping
zero point return
speed
This parameter is valid when SP193 (SPECT) bitE
is set to "0".
Set the speed for changing from the speed loop to
position loop during zero point return.
DEC * 50 r/min 0 to 500
SP215 TPDT Synchronized
tapping
zero point return
deceleration rate
SP216 TPST Synchronous
tapping zero point
return position shift
amount
SP217 TINP Synchronized
tapping
in-position width
SP218 TODR Synchronized
tapping excessive
error width
SP199
SP017
This parameter is valid when SP193 (SPECT) bitE
is set to "0".
Set the deceleration rate for decelerating from the
synchronous tapping zero point return speed to
the target stop point.
Decrease the setting if machine sways during zero
point return.
This parameter is valid when SP193 (SPECT) bitE
is set to "0".
Set the synchronized tapping zero point position.
Set the position error range for outputting the
in-position signal during synchronous tapping.
Set the excessive error width during synchronized
tapping.
SP219 IQGT Synchronized tap- Set the magnification of current loop gain (torque
ping current loop component) during synchronized tapping.
gain magnification 1
SP220 IDGT Synchronized tapping
current loop
Set the magnification of current loop gain
(excitation component) during synchronized
gain magnification 2 tapping.
Speed
DEC * 1 Pulse 0 to 10000
HEX * 0 360°/
4096
0 to 4095
DEC * 16 1/16° 0 to 2880
DEC 32767
Pulse 0 to 32767
(1 pulse
=
0.088°)
DEC 100 % 0 to 1000
DEC 100 % 0 to 1000
4 - 46

4. Setup
Name Abbr. Parameter name Details TYP
SP221 PG2T Position loop gain 2
for synchronous
tapping
SP222 PG3T Position loop gain 3
for synchronous
tapping
Set the second position loop gain for SGH control
during synchronous tapping.
Set the third position loop gain for SGH control
during synchronous tapping.
C
N
G
Standard
setting
Unit
Permissible
setting range
DEC * 0 s -1 0 to 999
DEC * 0 s -1 0 to 999
Name Abbr. Parameter name Details TYP
SP223 SPDV Fixed control
constant
SP224 SPDF Fixed control
constant
SP225 OXKPH Fixed control
constant
SP226 OXKPL Fixed control
constant
SP227 OXVKP Fixed control
constant
SP228 OXVKI Fixed control
constant
SP229 OXSFT Fixed control
constant
SP230 WIH Fixed control
constant
SP231 OL2T Fixed control
constant
These parameters are determined by Mitsubishi.
Set to "0" unless especially designated.
C
N
G
Standard
setting
Unit
Permissible
setting range
DEC * 0 r/min 0 to 800
DEC * 0 0 to 2813
DEC * 0 1/256
fold
DEC * 0 1/256
fold
DEC * 0 1/256
fold
DEC * 0 1/256
fold
DEC * 0 1/256
fold
0 to 2560
0 to 2560
0 to 2560
0 to 2560
0 to 2048
DEC * 0 % 0 to 100
DEC * 0 min 0 to 60
SP232 Not used. Set "0". 0
SP233 JL Disturbance
observer total
inertia ratio
Set the ratio of the motor inertia + load inertia and
motor inertia when using the disturbance observer
(when control input 4 bitF is set to "1").
Setting value =
Motor inertia + Load inertia
× 100
Motor inertia
DEC 0 % 0 to 5000
SP234 OBS1 Disturbance
observer low pass
filter frequency
SP235 OBS2 Disturbance
observer gain
SP236 OBS3 Fixed control
constant
Normally set a value higher than "100". This
parameter is invalid when a value less than "50" is
set.
Set the low pass filter frequency when using the
disturbance observer (when control input 4 bitF is
set to "1").
Setting value (1/s) = 2πf
Input a value approx. 1.5-fold of the disturbance
frequency in f.
Set the gain when using the disturbance observer
(when control input 4 bitF is set to "1").
These parameters are determined by Mitsubishi.
Set to "0" unless especially designated.
SP237 to SP241 Not used. Set "0". 0
SP242 Vavx Fixed control
constant
SP243 UTTM Transient/steady
judgment timer
These parameters are determined by Mitsubishi.
Set to "0" unless especially designated.
When the difference between the speed command
during motor acceleration/deceleration and the
speed feedback is within the judgment value and
the time set in this parameter has elapsed, the
motor control is changed from the transient state
to the steady state. Setting "0" is the same as
1000ms.
DEC 0 1/s 0 to 1000
DEC 0 % 0 to 500
DEC * 0 -32768 to
32767
DEC * 0 r/min 0 to 32767
DEC * 0 ms 0 to 1000
4 - 47

4. Setup
Name Abbr. Parameter name Details TYP
SP244 OPLP Torque command
for open loop
SP245 PGHS PLG compensation
setting
SP246 TEST Fixed control
constant
Set the torque command value for an open loop.
The value will be the same as 2048 (=50%) when
"0" is set. If the load is heavy, and the motor does
not rotate past a set speed, set a value higher than
2048. Wait at least five minutes before running the
motor in this case as the drive unit or motor could
be damaged.
Set "1" to validate the PLG waveform compensation
function.
Carry out compensation again when the value is
set to "0".
These parameters are determined by Mitsubishi.
Set to "0" unless especially designated.
C
N
G
Standard
setting
Unit
DEC * 0 100/
4096
%
Permissible
setting range
0 to 4096
DEC * 0 0 to 1
DEC * 0 -32768 to
32767
SP247 to SP248 Not used. Set "0". 0
SP249 SMO Speedometer
speed
Set the motor speed for outputting 10V. DEC * 0 r/min 0 to 32767
SP250 LMO Load meter voltage Set the output voltage for a 120% load. DEC * 0 V 0 to 10
SP251 to SP252 Not used. Set "0". 0
SP253 DA1NO D/A output channel Set the output data NO. in channel 1 (CN9-9 pin) DEC * 0 -32768 to
1 data number of the D/A output function. Normally set "0".
Refer to section 5-6 for details on setting.
32767
SP254 DA2NO D/A output channel
2 data number
SP255 DA1MP D/A output channel
1 magnification
SP256 DA2MP D/A output channel
2 magnification
Set the output data NO. in channel 2 (CN9-19 pin)
of the D/A output function. Normally set "0".
Refer to section 5-6 for details on setting.
Set the output magnification for the first channel
(CN9-9) of the D/A output function.
Refer to section 5-6 for details on setting.
Set the output magnification for the second
channel (CN9-19) of the D/A output function.
Refer to section 5-6 for details on setting.
DEC * 0 -32768 to
32767
DEC * 0
1/256
fold
DEC * 0 1/256
fold
-32768 to
32767
-32768 to
32767
4 - 48

4. Setup
Name Abbr. Parameter name Details TYP
SP257
to
SP320
RPM
to
BSD
SP321
RPML to
to
BSDL
SP384
Motor constant
(H)
Motor constant
(L)
Set these parameters in the following cases.
1) When using the standard motor with the wide
range output specifications and base slide
function (when SP034 (SFNC2)-bit0 is set to
"0", and SP035(SFNC3)-bit0 or bit2 is set to
1), set the values from SP314 (SPO) to SP320
(BSD).
2) When using a special motor without coil
changeover (electronic output changeover)
specifications (when SP034 (SFNC2)-bit0 is
set to "1" or bit2 is set to "0"), set the values
from SP257 (RPM) to SP320 (BSD).
3) When using the coil changeover (electronic
output changeover) specifications motor (when
SP034 (SFNC2)-bit0 is set to "1", and bit2 is
set to "1"), set the H coil (high-speed output)
motor constants in SP257 (RPM) to SP320
(BSD).
This parameter is determined by Mitsubishi, and
must not be changed by the user.
Set this parameter when using the coil
changeover motor (electronic output changeover
motor). (When SP034 (SFNC2)-bit0 is set to "1"
and bit2 is set to "1".)
Set the L coil (low-speed output) motor constants
for the coil changeover motor (electronic output
changeover motor).
This parameter is determined by Mitsubishi, and
must not be changed by the user.
C
N
G
Standard
setting
Unit
Permissible
setting range
HEX 0000 0000 to FFFF
HEX 0000 0000 to FFFF
4 - 49

4. Setup
4-3-2 Details of bit-corresponding parameters
The bits not explained in the section "4-3-1 List of spindle parameters" are shown below. These
parameters are designated in the "List of spindle parameter settings" enclosed when the spindle motor
is delivered. Basically none of the settings need to be changed by the machine maker.
Bits with no explanation must be set to "0".
Name Abbr. Details TYP
SP033 SFNC1 Spindle function 1
F E D C B A 9 8 7 6 5 4 3 2 1 0
poff hzs ront pycal pychg pyoff
bit Abbr. Content 0 setting 1 setting Supplement
6 pyoff Special function Invalid Valid
8 pychg Special function Invalid Valid
9 pycal
Motor temperature rise reduce
function
Invalid Valid
Only during highspeed
operation
C ront READY ON control Invalid Valid
E hzs
High-speed gate OFF during
zero speed
Invalid Valid
F poff Contactor hold during NC OFF Invalid Valid
HEX
setting
SP034 SFNC2
SP035 SFNC3
SP036 SFNC4
Spindle function 2
F E D C B A 9 8 7 6 5 4 3 2 1 0
nfd2 nfd1 sdir nf3 mkc2 mts1
bit Abbr. Content 0 setting 1 setting Supplement
0 mtsl Special motor constant setting Invalid Valid
2 mkc2 Coil changeover function
Not
available
Available
4 nf3 3rd resonance filter Valid Invalid
7 sdir
Speed detector installation
direction
Normal Reverse
A-C nfd1 1st filter SP070 (FHz) depth setting for machine resonance suppression filter
Deep ←
→ Shallow
Setting value (CBA) 000 001 010 011 100 101 110 111
Depth (Dd) -∞ -18 -12 -9 -6 -4 -3 -1
D-F nfd2 1st filter SP084 (FHz) depth setting for machine resonance suppression filter
Deep ←
→ Shallow
Setting value (CBA) 000 001 010 011 100 101 110 111
Depth (Dd) -∞ -18 -12 -9 -6 -4 -3 -1
Spindle function 3
F E D C B A 9 8 7 6 5 4 3 2 1 0
lbsd hbsd lwid hwid
bit Abbr. Content 0 setting 1 setting Supplement
0 hwid H-coil wide-range constant output Invalid Valid
1 lwid L-coil wide-range constant output Invalid Valid
2 hbsd H-coil base slide Invalid Valid Set in SP320
3 lbsd L-coil base slide Invalid Valid Set in SP384
Spindle function 4
F E D C B A 9 8 7 6 5 4 3 2 1 0
HEX
setting
HEX
setting
HEX
setting
bit Abbr. Content 0 setting 1 setting Supplement
– – Valid Invalid
– – Valid Invalid
– – Valid Invalid
– – Valid Invalid
There are no settings.
4 - 50

4. Setup
Name Abbr. Details TYP
SP037 SFNC5
SP038 SFNC6
Spindle function 5
F E D C B A 9 8 7 6 5 4 3 2 1 0
splg osocl nplgc noplg nsno nosg plgo nsno enco
bit Abbr. Content 0 setting 1 setting Supplement
0 enco Encoder orientation Invalid Valid
Also output to
CN8 when valid.
1 nsno Magnetic sensor orientation Invalid Valid
2 plgo PLG orientation Invalid Valid
Also output to
CN8 when valid.
8 nosg No-signal detection Always
Only during
From immediately
position loop
after position
orientation
detector power is
turned ON
9 pl80 Special function Invalid Valid Set to "0"
A noplg
Constant monitor of Z-phase
no-signal detection
Invalid Valid
Motor built-in
encoder
B nplgc AB-phase error detection Valid Invalid
Motor built-in
encoder
D ospcl
Orientation changeover speed Motor
limit value
side
Spindle side
F splg Special function Invalid Valid Set to "0"
Spindle function 6
F E D C B A 9 8 7 6 5 4 3 2 1 0
open XFzs dcsn P180 sdt2 orm adin plg2 pftm alty
bit Abbr. Content 0 setting 1 setting Supplement
0 alty
Decelerate to stop at specific
alarm occurrence
Invalid Valid
2 pftm
Encoder feedback serial
communication
Invalid Valid
3 Plg2
Semi-closed pulse signal output
2-fold
Invalid Valid
5 adin Special function Invalid Valid
6 orm Orientation start memo Invalid Valid
8 sdt2 Special function Invalid Valid
9 pl80 Special function Invalid Valid
B dcsn Dual cushion valid range
Accelera-
Deceleratiotion/deceleration
C XFzs Special function Invalid Valid
F open Open loop operation Invalid Valid
HEX
setting
HEX
setting
4 - 51

4. Setup
Name Abbr. Details TYP
SP097 SPECO
SP129 SPECC
SP177 SPECS
Orientation specifications
F E D C B A 9 8 7 6 5 4 3 2 1 0
ksft gcgh tlmp isp2 zdir tlet vg8x mdir fdir ocsl pyfx dmin odi2 odi1
bit Abbr. Content 0 setting 1 setting Supplement
0 odi1 Orientation rotation direction
Set with two bits 0
00: Pre 01: Motor forward run direction
1 odi2
and 1 bit
10: Motor reverse run 11: Setting not possible
2 dmin
Orientation position front
Invalid Valid
loading
3 pyfx
Excitation during servo lock
min. (50%)
SP056/SP116 setting value
Invalid
Valid
Movable excitation
rate during
orientation stop
4 ocsl Maximum speed clamp value SP005 SP115 During indexing
5 fdir Encoder detector polarity + –
6 mdir
Magnetic sensor installation
polarity
+ –
7 vg8x Special function Invalid Valid Set "0".
8 tlet Special function Invalid Valid Set "0".
9 zdir Special function Invalid Valid Set "0".
A isp2 Special function Invalid Valid Set "0".
B tlmp Special function Invalid Valid Set "0".
C gcgh Special function Invalid Valid Set "0".
D ksft Special function Invalid Valid Set "0".
Set all other bits to "0".
C-axis control
F E D C B A 9 8 7 6 5 4 3 2 1 0
zrtn ptyp fb9x zrtd zrn2 vg8x fdir rtrn adin fclx
bit Abbr. Content 0 setting 1 setting Supplement
0 fclx Droop Closed
Semiclosed
1 adin Interpolation A/D compensation Invalid Valid
2 rtrn Special function Invalid Valid
5 fdir Position detection direction
Positive
side
Negative
side
7 vg8x
Speed gain during torque limit x
1/8
Valid Invalid
B zrn2 Special function Invalid Valid
C zrtd Special function Invalid Valid
D
E
fb9x
ptyp
Pulse selection for speed
control
Automatic zero point return
operation
F zrtn Spindle rotation direction
Normal
pulse
Available
Forward
run
C-axis
control
pulse
Not
available
Reverse
run
During C-axis
control
During C-axis
control
During automatic
zero point return
Spindle synchronous control
F E D C B A 9 8 7 6 5 4 3 2 1 0
odx8 fdir rtrn adin fclx
bit Abbr. Content 0 setting 1 setting Supplement
0 fclx
Spindle synchronous control
loop
Closed
Semiclosed
1 adin Interpolation A/D compensation Invalid Valid
2 rtrn Special function Invalid Valid
5 fdir
Spindle synchronous position
Direction
(+) (-)
detector polarity
commanded from
NC
D odx8 Excessive error width (SP186) 1-fold 8-fold
Detection width
enlarged
HEX
setting
HEX
setting
HEX
setting
4 - 52

4. Setup
Name Abbr. Details TYP
SP193 SPECT
Synchronous tap control
F E D C B A 9 8 7 6 5 4 3 2 1 0
zrtn ptyp odx8 fdir cdir rtrn adin fclx
bit Abbr. Content 0 setting 1 setting Supplement
0 fclx Droop Closed
Semiclosed
For [fdir] opposing
1 adin Interpolation A/D compensation Invalid Valid
2 rtrn Special function Invalid Valid
Detector
4 cdir Position command polarity
Forward Reverse
run run
Spindle motor
5 fdir Position detector polarity
(+)
opposing
(-) correct
position
D odx8 Excessive error width (SP218) 1-fold 8-fold
During synchronous tap
control
E
ptyp
Automatic zero point return
operation
F zrtn Spindle rotation direction
Available
Forward
run
Not
available
Reverse
run
During synchronous tap
control
During zero point return
HEX
setting
4 - 53

4. Setup
4-3-3 Setting spindle drive unit and motor model
Name Abbr. Details TYP
SP039 ATYP
Set the drive unit model.
F E D C B A 9 8 7 6 5 4 3 2 1 0
ATYP
HEX setting
Setting
value
Content
Setting
value
Content
00 --- 0A CH-SP-220 22kW
01 CH-SP-075 0.75kW 0B CH-SP-260 26kW
02 CH-SP-15 1.5kW 0C CH-SP-300 30kW
03 CH-SP-22 2.2kW 0D CH-SP-370 37kW
04 CH-SP-37 3.7kW 0E CH-SP-450 45kW
05 CH-SP-55 5.5kW 0F CH-SP-04 0.4kW
06 CH-SP-75 7.5kW 10 CH-SP-550 55kW
07 CH-SP-110 11kW 11 CH-SP-750 75kW
08 CH-SP-150 15kW
09 CH-SP-185 18.5kW
SP040 MTYP
Set the motor being used. (Refer to the "List of spindle parameter settings", separately enclosed with the
product.)
Note that this parameter is valid only when SP034 (SFNC2)-bit0 is set to "0".
Setting
value
Motor model
Maximum
speed (r/min)
Compatible drive unit model
HEX setting
Set 0 for the CH Series.
SP041 PTYP
F E D C B A 9 8 7 6 5 4 3 2 1 0
** ptyp
HEX setting
ptyp
Setting
value
00
Set the power supply type. (Only units with wiring to CN4 connector)
Content
With no power
supply unit
Setting
value
Content
22 CH-CV-220 22kW
04 CH-CV-37 3.7kW 26 CH-CV-260 26kW
06 CH-CV-55 5.5kW 30 CH-CV-300 30kW
08 CH-CV-75 7.5kW 37 CH-CV-370 37kW
11 CH-CV-110 11kW 45 CH-CV-450 45kW
15 CH-CV-150 15kW 55 CH-CV-550 55kW
19 CH-CV-185 18.5kW 75 CH-CV-750 75kW
When using an external emergency stop function (CN23 connector) of the
power supply unit, set a value of the above setting values with "40" added.
Example) When using an external emergency stop in CH-CV-260,
setting value = 26 + 40 = 66
Set bit8 to "1" when connecting a unit higher than MDS-CH-SP[ ]-370.
4 - 54

4. Setup
4-3-4 Spindle specification parameters screen
The spindle parameters include parameters
used with the spindle drive unit and on the NC
side.
(1) The 384 parameters transferred from the
NC to the spindle drive unit are the
parameters transferred when the power is
turned ON.
(2) Parameters used on NC side
The spindle specification parameters
indicated in this section are the
parameters used on the NC side.
[SPINDLE BASE SPEC. PARAM]
#
1
2
3
4
slimt 1
2
3
4
8000
8000
8000
8000
17
18
19
20
stapt 1
2
3
4
5 smax 1 6000 21 sori
6
7
8
2
3
4
6000
6000
6000
22
23
24
sgear
smini
serr
9
10
11
12
13
14
15
16
ssift 1
2
3
4
stap 1
2
3
4
#( ) Data( )
0
0
0
0
1500
3000
4000
5000
25
26
27
28
29
30
31
32
sname
senc_pno
sana_pno
spfig
senc_no
sana_no
smcp-no
200
400
1000
2000
0
0
10
0
0
0
0
0
0
0
0
No. Items Details
1 slimt 1 Limit rotation speed Gear 00
2 slimt 2 Limit rotation speed Gear 01
3 slimt 3 Limit rotation speed Gear 10
4 slimt 4 Limit rotation speed Gear 11
5 smax 1 Maximum rotation speed Gear 00
6 smax 2 Maximum rotation speed Gear 01
7 smax 3 Maximum rotation speed Gear 10
8 smax 4 Maximum rotation speed Gear 11
9 ssift 1 Shift rotation speed Gear 00
10 ssift 2 Shift rotation speed Gear 01
11 ssift 3 Shift rotation speed Gear 10
12 ssift 4 Shift rotation speed Gear 11
13 stap 1 Maximum tap rotation speed Gear 00
14 stap 2 Maximum tap rotation speed Gear 01
15 stap 3 Maximum tap rotation speed Gear 10
16 stap 4 Maximum tap rotation speed Gear 11
17 stapt1 Tap time constant Gear 00
18 stapt2 Tap time constant Gear 01
19 stapt3 Tap time constant Gear 10
20 stapt4 Tap time constant Gear 11
Set spindle rotation speed for
maximum motor rotation speed
with gears 00, 01, 10, 11.
Set maximum spindle rotation
speed with gears 00, 01, 10, 11.
Set the value that equal to or
larger than "slimit" value.
Setting range
(Unit)
0 to 99999 (r/min)
0 to 99999 (r/min)
Set spindle rotation speed for
gear shifting with gears 00, 01,
10, 11. 0 to 32767 (r/min)
Set maximum spindle rotation
speed during tap cycle with
gears 00, 01, 10, 11.
Set the time constant to the
maximum tap speed during
constant inclination tap cycle at
gear 00, 01, 10, 11.
22 sgear Encoder gear ratio Set the gear ratio between the
spindle and encoder.
23 smini Minimum rotation speed Set the spindle's minimum
rotation speed. Even if an S
command lower than this value
is input, the spindle will continue
rotating at this rotation speed.
0 to 99999 (r/min)
0 to 5000 (ms)
0 : 1/1
1 : 1/2
2 : 1/4
3 : 1/8
0 to 32767 (r/min)
4 - 55

4. Setup
Limit rotation speed (slimit)
slimit sets the spindle's maximum rotation speed.
Set a value obtained by multiplying the spindle
motor's maximum rotation speed (SP017) with the
gear ratio.
There are four slimit settings used for gear
changeover.
Limit rotation speed = (SP017) × A
B
Spindle motor
Spindle limit rotation
speed (slimit)
Spindle motor maximum
rotation speed (SP017)
Number of teeth: A
Number of teeth: B
Spindle
Maximum rotation speed (Smax)
Set this when the spindle's maximum rotation
speed is to be limited to below the limit rotation
speed (slimit) depending on the gear
specifications or machine specifications, etc.
There are four Smax settings used for gear
changeover.
Spindle motor
maximum
rotation speed
(SP017)
Smax
Spindle speed
(r/min)
slimit
Tap maximum rotation speed (Stap)
Set the spindle's maximum rotation speed
(stap) for the tap cycle. The relation of the
tap maximum rotation speed and spindle
tap time constant is shown on the right.
Tap maximum
rotation speed
(stap)
(r/min)
Tap time constant
(stapt)
Time (ms)
4 - 56

4. Setup
(2) Spindle monitor screen
The spindle drive unit status can be confirmed on the NC screen. An example is shown below. The
screen configuration may differ depending on the NC, but the items are the same.
[SPINDLE MONITOR]
GAIN
DROOP
SPEED
LOAD
AMP DISP
ALARM
CYC CNT
D/I
UNIT TYP
UNIT NO
S/W VER
1 WORK TIME
2 ALM HIST
D/O
Item Unit Display details
GAIN 1/s Displays the position loop gain when operating with the position command.
DROOP pulse Displays the position deviation amount when operating with the position command.
SPEED r/min The motor rotation speed is displayed.
LOAD % The motor load ratio (load) is displayed.
The short-term rating is 100%. (30-minute rating for standard spindle motor.)
AMP DISP
The data of the 7-segment LED display for the spindle drive unit is displayed.
ALARM
The alarm No. is displayed when an alarm other than that displayed on the AMP DISP 7-segment LED.
CYC CNT
Displays the current position from the position detector's reference Z-phase when operating with the
position command.
D/I 1L
H
Control signal input 1
Displays the control input signal sent from the NC to the spindle drive unit.
D/I 2L
H
Control signal input 2
Displays the control input signal sent from the NC to the spindle drive unit.
D/I 3L
H
Control signal input 3
Displays the control input signal sent from the NC to the spindle drive unit.
D/I 4L
H
Control signal input 4
Displays the control input signal sent from the NC to the spindle drive unit.
D/O 1L
H
Control signal output 1
Displays the control input signal sent from the spindle drive unit to the NC.
D/O 2L
H
Control signal output 2
Displays the control input signal sent from the spindle drive unit to the NC.
D/O 3L
H
Control signal output 3
Displays the control input signal sent from the spindle drive unit to the NC.
D/O 4L
H
Control signal output 4
Displays the control input signal sent from the spindle drive unit to the NC.
UNIT TYP
The spindle drive unit type is displayed.
UNIT NO
The spindle drive unit serial No. is displayed.
S/W VER
The software version in the spindle drive unit is displayed.
1 WORK TIME The cumulative working time of the spindle drive unit is displayed.
2 ALM HIST 1~8 Displays the history of alarms occurring in the spindle drive.
"1" indicates the alarm that occurred last.
Refer to section "4-3-5 Spindle control signals" for details on the control input and control output.
4 - 57

4. Setup
4-3-5 Spindle control signals
(1) Spindle control input
The control input signals are shown below. The corresponding control input bit changes from 0 to 1
while the command is received from the NC.
Note that some signals cannot be input depending on the NC specifications.
Name
Details
Control input 1 7 6 5 4 3 2 1 0
1L ALMR PRM SRV RDY
F E D C B A 9 8
1H G1 TL3 TL2 TL1
bit Abbrev. Details
0 RDY Ready ON command
1 SRV Servo ON command
6 PRM Parameter conversion command
7 ALMR Drive unit alarm reset command
8 TL1 Torque limit 1
9 TL2 Torque limit 2
A TL3 Torque limit 3
F G1 Cutting
Control input 2 7 6 5 4 3 2 1 0
1L
1H
F E D C B A 9 8
This signal is not used.
Control input 3 7 6 5 4 3 2 1 0
1L GR2 GR1 SC5 SC4 SC3 SC2 SC1
F E D C B A 9 8
1H PCGH LCS ORC WRI WRN SRI SRN
bit Abbrev. Details
0 SC1 Spindle control mode selection command 1
1 SC2 Spindle control mode selection command 2
2 SC3 Spindle control mode selection command 3
3 SC4 Spindle control mode selection command 4
4 SC5 Spindle control mode selection command 5
5 GR1 Gear selection command 1
6 GR2 Gear selection command 2
8 SRN Forward run start command
9 SRI Reverse run start command
A WRN Index forward run command
B WRI Index reverse run command
C ORC Orientation start command
D LCS L coil selection command (When using coil changeover motor)
Control input 4 7 6 5 4 3 2 1 0
1L
1H
F E D C B A 9 8
TLUP
bit Abbrev. Details
F TLUP Spindle holding force up
4 - 58

4. Setup
(2) Spindle control input signals
Each signal function and signal name for control input is shown below.
1) Speed command
When the speed command value is "0", the motor speed will be "0".
The motor's maximum speed is designated with SP017 (TSP)
when the speed command value is the maximum.
The run command must also be input to rotate the motor.
Max.
rotation
SP017
(TSP)
r/min
Max
Speed
command
value
2) Forward run start command (SRN)
This is the run command. The speed command must also be input to rotate the motor.
SRN
1 (ON)
Explanation
The motor rotates in the counterclockwise direction (CCW),
looking from the shaft, according to the speed command.
The motor decelerates to a stop.
0 (OFF)
The drive unit's power module is then turned OFF.
Orientation has a priority when the orientation command is input.
Spindle motor
rotation direction
Counterclockwise
direction
3) Reverse run start command (SRI)
This is the run command. The speed command must also be input to rotate the motor.
SRI
1 (ON)
Explanation
The motor rotates in the clockwise direction (CW) according
to the speed command.
The motor decelerates to a stop.
0 (OFF)
The drive unit's power module is then turned OFF.
Orientation has a priority when the orientation command is input.
Spindle motor
rotation direction
Clockwise direction
4) Torque limit 1, 2, 3 (TL1, TL2, TL3)
Use this to temporarily decrease the spindle motor's output torque, such as when clamping the
spindle motor on the machine side. Designate a percentage, using the motor's short-term rating as
100%, for the torque limit.
Set the SP021 and SP049 to 054 torque limit values with a combination of TL1 to 3.
TL3 TL2 TL1 Torque limit value TL3 TL2 TL1 Torque limit value
0 0 1 SP021 1 0 1 SP052
0 1 0 SP049 1 1 0 SP053
0 1 1 SP050 1 1 1 SP054
1 0 0 SP051
5) Orientation start command (ORC)
This signal starts orientation.
ORC
Explanation
1 (ON)
Orientation starts regardless of the run command (SRN,
SRI).
When one of the run commands (SRN or SRI) is selected,
0 (OFF)
the motor starts rotating at the commanded speed again.
Orientation has a priority when the orientation command is input.
4 - 59

4. Setup
6) Gear selection command 1, 2 (GR1, GR2)
Select the number of spindle gear stages required to carry out orientation or various position
control operations.
GR2 GR1 Gear ratio
0 0 SP025, 029
0 1 SP026, 030
1 0 SP027, 031
1 1 SP028, 032
CAUTION
Do not change the gear selection command signal while the orientation
command or servo command is input.
7) Index forward run command (WRN), reverse run command (WRI)
This command is valid while the orientation start signal is ON.
WRN Explanation WRI Explanation
1 (ON)
Indexing starts in the
counterclockwise direction (CCW)
looking from the motor shaft side.
1 (ON)
Indexing starts in the clockwise
direction (CW) looking from the
motor shaft side.
0 (OFF) Indexing is not carried out. 0 (OFF) Indexing is not carried out.
8) L coil selection command (LCS)
This command is input to select the coil method when changing the coils.
LSC
Explanation
1 (ON) Select low-speed coil.
0 (OFF) Select high-speed coil.
9) READY ON command (MS)
This signal is input when the motor is ready to rotate. The forward run and reverse run start
commands will not be accepted if input before this signal turns ON.
MS
Explanation
1 (ON) Ready-ON
0 (OFF) Ready-OFF
10) Cutting (G1)
This signal judges the cutting and non-cutting state during C-axis control.
G1
Explanation
1 (ON) Judged as cutting.
0 (OFF) Judged as not cutting.
4 - 60

4. Setup
11) Spindle control mode selection command 1, 2, 3, 4, 5 input (SC1, SC2, SC3, SC4, SC5)
The speed control mode is entered when the following bits are not selected.
SC5 SC4 SC3 SC2 SC1 Gear ratio SC5 SC4 SC3 SC2 SC1 Gear ratio
0 1 0 0 0 1 0 0 0 0
Synchronous
Spindle
0 1 0 0 1 1 0 0 0 1
tap control
synchronous
0 1 0 1 0 mode
1 0 0 1 0 control mode
0 1 0 1 1
1 0 0 1 1
0 1 1 0 0
0 1 1 0 1 C-axis control
0 1 1 1 0 mode
0 1 1 1 1
12) Servo ON command (SRV)
This command is input for position control, excluding orientation. If this signal is not ON, position
control will not start even if the position control mode is selected with the spindle control mode
selection command combination.
G1
Explanation
1 (ON) Servo ON
0 (OFF) Servo OFF
4 - 61

4. Setup
(3) Spindle control output bit
The control signal outputs are shown below. The corresponding control output bit will change from
0 to 1 while the command is output from the spindle drive unit to the NC.
Name
Details
Control output
7 6 5 4 3 2 1 0
1 1L ALM PRMA WRN SON RON
F E D C B A 9 8
1H CD INP ZFIN TL3A TL2A TL1A
bit Abbrev. Details
0 RON In ready ON
1 SON In servo ON
4 WRN In drive unit warning
6 PRMA In parameter conversion
7 ALM In drive unit alarm
8 TL1A Inputting torque limit 1 signal
9 TL2A Inputting torque limit 2 signal
A TL3A Inputting torque limit 3 signal
D ZFIN Z-phase passed
E INP In position loop in-position
F CL Limiting current
Control output
2 1L
1H
7 6 5 4 3 2 1 0
F E D C B A 9 8
This signal is not used.
Control output
7 6 5 4 3 2 1 0
3 1L GR2A GR1A SC5A SC4A SC3A SC2A SC1A
F E D C B A 9 8
1H LCSA ORCA WRIA WRNA SRIA SRNA
bit Abbrev. Details
0 SC1A Inputting spindle control mode selection command 1 signal
1 SC2A Inputting spindle control mode selection command 2 signal
2 SC3A Inputting spindle control mode selection command 3 signal
3 SC4A Inputting spindle control mode selection command 4 signal
4 SC5A Inputting spindle control mode selection command 5 signal
5 GR1A Inputting gear selection command 1 signal
6 GR2A Inputting gear selection command 2 signal
8 SRNA Motor in forward run
9 SRIA Motor in reverse run
A WRNA In index forward run command
B WRIA In index reverse run command
C ORCA Inputting orientation start command signal
D LCSA Selecting L coil (when using coil changeover motor)
Control output
7 6 5 4 3 2 1 0
4 1L WRCF MKC SYSA ORCF ZS US SD CD
F E D C B A 9 8
1H TLUA ATA SD2
bit Abbrev. Details
0 CD Current detection
1 SD Speed detection 1
2 US Speed reached
3 ZS Zero speed
4 ORCF Orientation completed
5 SYSA Synchronous speed match
6 MKC In coil changeover
7 WRCF Index positioning completed
9 SD2 Speed detection 2
D ATA In automatic adjustment
E TLUA Spindle holding force increased
4 - 62

4. Setup
(4) Spindle control output signals
Each signal function and signal name for control output is shown below.
Orientation completed (ORCF)
1) This signal turns ON when the orientation command is input and the spindle position has
reached a set range (in-position range) in respect to the target stop position.
2) This signal turns OFF when orientation is completed and the spindle position leaves the
in-position range, and turns ON again when the spindle enters the in-position range
again. When the orientation command turns OFF, this signal will turn OFF even if the
spindle is in the in-position range.
3) The in-position range can be set with parameter SP004 (OINP).
Index positioning completed (WRCF)
1) This signal turns ON during indexing when the spindle position has reached a set range
(in-position range) in respect to the target stop position.
Once this signal turns ON, it remains ON regardless of the spindle position until the
orientation signal turns OFF or the next indexing signal is input.
This signal will always turn OFF when the indexing signal is input even if the currently
stopped position and next indexing position are within the in-position range. Minimum off
period = 200ms (standard value)
2) The minimum off period can be set with parameter SP103 (FTM).
Inputting torque limit 1, 2, 3 signal (TL1A, TL2A, TL3A)
1) This signal turns ON while the torque limit signal (1 to 3) is input.
Motor in forward run (SRNA)
1) This signal turns ON while the start signal is input and the motor is rotating in the CCW
direction looking from the motor shaft.
2) This signal may turn ON and OFF if the motor speed is several r/min or less.
Motor in reverse run (SRIA)
1) This signal turns ON while the start signal is input and the motor is rotating in the CW
direction looking from the motor shaft.
2) This signal may turn ON and OFF if the motor speed is several r/min or less.
In drive unit alarm (ALM)
1) This signal turns ON while an alarm is occurring in the unit.
In READY ON (RON)
1) If there is no abnormality, this signal turns ON one second after the READY ON signal is
input from the NC.
2) The motor will start rotating if the start signal (forward run, reverse run, orientation) is
turned ON while this signal is ON.
3) This signal turns OFF if the READY ON signal is input from the NC, or if an alarm
occurs.
4) If the READY ON signal from the NC turns OFF while the spindle motor is rotating, the
motor will decelerate to a stop. This signal will remain ON until the motor stops.
Current detection (CD)
1) This signal turns ON if the current flowing to the motor is approx. 110% or more of the
rating while the start signal (forward run, reverse run, orientation) is ON.
(The motor output (current) guarantee value is 120% of the rating.)
4 - 63

4. Setup
Speed detection (SD)
1) This signal turns ON if the motor speed drops to below the value set in parameter SP020
(SDTS).
2) The ON to OFF hysteresis width is set with parameter SP047 (SDTR).
3) This signal turns ON when the motor speed drops below the set speed regardless of the
input signal status.
Motor speed
Parameter SP047 (SDTR)
Parameter SP020 (SDTS)
Speed
detection
0
ON
OFF
Speed reached (US)
1) This signal turns ON when the start command signal (forward run, reverse run) turns ON
and the motor speed reaches the ±15% (standard value) range of the speed command
value.
Speed command value
Speed reached range
Parameter SP048 (SUT)
Motor speed
Forward run 0
(reverse run) ON
start command
OFF
Speed
reached
ON
OFF
2) This signal turns OFF when the start command signal turns OFF.
3) If the forward run signal turns OFF and the reverse run signal turns ON during forward
run, the signal will be output as shown below.
4) The speed reached range can be set with parameter SP048 (SUT).
Speed command value
0
Motor speed
Speed reached range
Parameter SP048 (SUT)
Motor forward run
Speed command
Forward run
start command
Reverse run
start command
ON
OFF
ON
OFF
Motor reverse run
Speed reached range
Parameter SP048 (SUT)
Speed
reached
ON
OFF
4 - 64

4. Setup
Zero speed (ZS)
1) This signal turns ON when the motor speed drops below the speed set in parameter
SP018 (ZSP) regardless of the input signal state.
2) Once this signal turns ON, it will not turn OFF for at least 200ms.
3) If the parameter SP018 (ZSP) setting value is too small (approx. 10r/min or less), the
output may not turn ON even if the motor is stopped.
Motor speed
0
Zero speed range
Parameter SP018 (ZSP)
Forward run
start command
Reverse run
start command
ON
OFF
ON
OFF
Zero
speed
ON
OFF
200ms
Changing coil (MKC)
1) This signal turns ON for the time set in parameter SP059: MKT while the L coil selection
signal is ON or OFF when using the coil changeover motor.
2) The coil is not changed while the orientation command is input, so this signal will not turn
ON even if the L coil selection signal turns ON or OFF. In this case, the coil will be
changed after the orientation command turns OFF. This signal will turn ON at that time.
Do not turn the start command ON or OFF while this signal is ON.
L coil selection
signal
ON
OFF
T1
T1
During coil
change
ON
OFF
Changing L coil selection (LCSA)
1) This signal turns ON while the L coil is selected for the coil changing motor.
2) This signal turns ON when the L coil selection signal is ON, and stays ON until the L coil
selection signal turns OFF.
3) The coil will not change when the orientation command is input, so this signal will not
turn ON even if the L coil selection signal turns ON. In this case, the coil will be changed
after the orientation command turns OFF. This signal will turn ON at that time.
L coil selection
signal
ON
OFF
L coil selected
ON
OFF
4 - 65

4. Setup
In orientation start command signal (ORCA)
1) This signal turns ON while the orientation start command (ORC) is input to the spindle
drive unit.
Inputting gear selection 1, 2, signal (GR1A, GR2A)
1) The corresponding output signal turns ON while the gear selection 1, 2 (GR1, GR2) is
input to the spindle drive unit.
In forward run indexing (WRNA), in reverse run indexing (WRIA)
1) The corresponding output signal turns ON while forward run indexing (WRN) or reverse
run indexing (WRI) is input to the spindle drive unit.
Synchronization speed match (SYSA)
1) During spindle synchronous control, this signal turns ON when the control changes from
speed control to spindle synchronous control.
In drive unit warning (WRN)
1) This signal turns ON when a warning is occurring in the spindle drive unit.
Z-phase passed (ZFIN)
1) This signal turns ON when the Z-phase is passed for the first time after servo ON in
position control.
In servo ON (SON)
1) This signal turns ON after the servo ON signal (SRV) is input from the NC and the loop
changes from the speed loop to the position loop.
In position loop in-position (INP)
1) This signal turns ON when the spindle position is in the rang set with SP153 (CINP)
during C-axis control, SP185 (SINP) during spindle synchronous control, or SP217
(TINP) during synchronous tap control.
In spindle control mode selection command 1, 2, 3, 4, 5 signal input (SC1A, SC2A, SC3A,
SC4A, SC5A)
1) The corresponding output signal turns ON when the spindle control mode selection
command 1, 2, 3, 4, 5 (SC1, SC2, SC3, SC4, SC5) is input.
Spindle holding force increased (TLUA)
1) This signal turns ON while the spindle holding force up (TLUP) signal is input.
Limiting current (CL)
1) This signal turns ON when a load exceeding the spindle's overload withstand level is
applied during spindle motor rotation. This may also turn ON during motor
acceleration/deceleration.
4 - 66

4. Setup
(5) Input/output interface
The spindle drive unit has a general-purpose input/output interface.
Output interface
The signals required for coil changeover can be output.
To output the coil changeover signal to the CN9 connector's pin 8, set SP034 (SFC2) bit2 (mkch)
to "1".
The signal will be output if the L coil is designated for the control signal input.
Spindle drive unit
Spindle motor
Tolerable voltage 24VDC or less
Tolerable current 50mA or less
U
V
W
MC2
U
V
W
U
Z
Spindle drive unit
8
10
CN9
connector
CN9
8
S
MC1
MC1
RA
MC2
X
V
X
Y
Z
BU
W
Y
10
RA
T
MC2
RA
MC1
BV
Coil changeover wiring diagram
Low-speed coil selection : Y connection (MC1 ON, MC2 OFF)
High-speed coil selection : connection (MC1 OFF, MC2 ON)
Use the contactors recommended in section "7-2-3 Selecting the contactor" for the MC1 and MC2
contactors.
Refer to section "5-8-1(4) Coil changeover contactor (magnetic contact)".
Input interface
A trigger is input to shift to the speed monitor mode. (Protective door open/close information, etc.)
The spindle drive unit monitors the spindle motor's speed at this time. (Function to monitor whether
spindle motor is below limit speed together with corresponding NC.) This function monitors the
spindle monitor speed limit value designated with SP223 (SPDV) and the error speed detection
time designated with SP224 (SPDF). The 5E alarm occurs when an error is detected.
(This is not supported with the MDS-CH Series drive unit.)
External contact
ON conditions
External contact
OFF conditions
18VDC to 25.2VDC
9mA or more
4VDC or less
2mA or less
CN9
connector
20
24V
10k
33.3k
Switch
10
Spindle drive unit
4 - 67

5. Adjustment
5-1 Servo adjustment data output function (D/A output).......................................................................... 5-2
5-1-1 D/A output specifications............................................................................................................. 5-2
5-1-2 Setting the output data ................................................................................................................ 5-2
5-1-3 Setting the output magnification.................................................................................................. 5-2
5-2 Gain adjustment ................................................................................................................................. 5-3
5-2-1 Current loop gain......................................................................................................................... 5-3
5-2-2 Speed loop gain .......................................................................................................................... 5-3
5-2-3 Position loop gain ........................................................................................................................ 5-5
5-3 Characteristics improvement.............................................................................................................. 5-8
5-3-1 Optimal adjustment of cycle time ................................................................................................ 5-8
5-3-2 Vibration suppression measures............................................................................................... 5-11
5-3-3 Improving the cutting surface precision..................................................................................... 5-15
5-3-4 Improvement of protrusion at quadrant changeover ................................................................. 5-18
5-3-5 Improvement of overshooting.................................................................................................... 5-23
5-3-6 Improvement of characteristics during acceleration/deceleration............................................. 5-26
5-4 Settings for emergency stop ............................................................................................................ 5-29
5-4-1 Vertical axis drop prevention control ......................................................................................... 5-29
5-4-2 Deceleration control .................................................................................................................. 5-31
5-4-3 Dynamic braking stop................................................................................................................ 5-32
5-5 Collision detection function .............................................................................................................. 5-33
5-6 Spindle adjustment data output function (D/A output) ..................................................................... 5-36
5-6-1 D/A output specifications........................................................................................................... 5-36
5-6-2 Parameter settings .................................................................................................................... 5-36
5-6-3 Output data settings .................................................................................................................. 5-36
5-6-4 Setting the output magnification................................................................................................ 5-37
5-7 Spindle adjustment........................................................................................................................... 5-40
5-7-1 Items to check during trial operation ......................................................................................... 5-40
5-7-2 Adjusting the spindle rotation speed ......................................................................................... 5-40
5-7-3 Adjusting the acceleration/deceleration .................................................................................... 5-40
5-7-4 Adjusting the orientation............................................................................................................ 5-42
5-7-5 Synchronous tap adjustment..................................................................................................... 5-49
5-7-6 Z-phase (magnetic) automatic adjustment (Only when using IPM spindle motor) ................... 5-51
5-7-7 PLG automatic adjustment........................................................................................................ 5-51
5-7-8 Calculating the theoretical acceleration/deceleration ............................................................... 5-52
5-8 Spindle specifications....................................................................................................................... 5-54
5-8-1 Spindle coil changeover ............................................................................................................ 5-54
5 - 1

5. Adjustment
5-1 Servo adjustment data output function (D/A output)
The MDS-CH-V1/V2 servo drive unit has a function to D/A output the various control data.
The servo adjustment data required for setting the servo parameters to match the machine can be D/A
output. Measure using a hi-coder, synchroscope, etc.
5-1-1 D/A output specifications
Item
Explanation
No. of channels 2ch
Output cycle 888µs
Output precision 8bit
Output voltage range 0 to +5V
Output magnification
setting
±1/256 to ±128-fold
CN9 connector
Output pins
Channel 1 = Pin 9
Channel 2 = Pin 19
GND = Pins 1, 11
5-1-2 Setting the output data
No. Abbrev. Parameter name Explanation
SV061 DA1NO
D/A output channel 1 Input the No. of the data to be output to each D/A output channel.
data No.
(When "-1" is set, the D/A output for that channel will be invalid.)
SV062 DA2NO
D/A output channel 2 (When using the 2-axis integrated unit, set the D/A output for the axis not to be
data No.
measured to invalid (-1).)
No. CH1 output data Standard output unit
-1 D/A output not selected
Output magnification
standard setting value
(SV063, SV064)
Output unit for
standard setting
Output cycle
13 (2000 r/min) 1000 r/min / V 3.5ms
CH1: Speed feedback
r/min
0
9 (3000 r/min) 1500 r/min / V 3.5ms
CH2: Current command Rated (stall) current % 131 Stall 100% / V 3.5ms
1 Current command Rated (stall) current % 131 Stall 100% / V 3.5ms
2 Current command Rated (stall) current %
3 Current feedback Rated (stall) current % 131 Stall 100% / V 3.5ms
20
11
CN9
10
1
6 Position droop low-order Interpolation unit 328 (Display unit: 1µm) 10µm / 0.5V 3.5ms
7 – – –
8 Position F∆T low-order
Interpolation unit/
NC communication
cycle
55 (1µm, 3.5ms) 1000mm/min / 0.5V 3.5ms
9 – – –
10
Position command
low-order
11 – – –
Interpolation unit 328 (Display unit: 1µm) 10µm / 0.5V 3.5ms
12 Feedback position low-order Interpolation unit 328 (Display unit: 1µm) 10µm / 0.5V 3.5ms
13 – – –
125 Test output saw tooth wave 0 to +5V 0 or 256 Cycle: 227.5ms 0.8ms
126 Test output oblong wave 0 to +5V 0 or 256 Cycle: 1.7ms 0.8ms
127 Test output 2.5V (data 0) 0 or 256 – 0.8ms
* Interpolation unit
This is the NC internal unit. The command unit (input unit) will be as shown on the right.
5-1-3 Setting the output magnification
No. Abbrev. Parameter name Explanation Setting range
SV063 DA1MPY D/A output channel 1 output
magnification
SV064 DA2MPY D/A output channel 2 output
magnification
Command unit
10µm
1µm
0.1µm
The magnification is set with a 1/256 unit. When 256 is set, the
magnification will be 1.
Analog output voltage = {(Output data value) × (Setting value of SV063 or SV064) × 76.3/1,000,000} + 2.5V
Interpolation unit
5µm
0.5µm
0.05µm
–32768 to 32767
5 - 2

5. Adjustment
5-2 Gain adjustment
5-2-1 Current loop gain
No. Abbrev. Parameter name Explanation Setting range
SV009 IQA Current loop q axis leading
compensation
SV010 IDA Current loop d axis leading
compensation
1 to 20480
1 to 20480
SV011 IQG Current loop q axis gain 1 to 8192
SV012 IDG Current loop d axis gain
This setting is determined by the motor's electrical characteristics.
Set the standard parameters for all parameters.
(These are used for maker adjustments.)
1 to 8192
5-2-2 Speed loop gain
(1) Setting the speed loop gain
The speed loop gain (SV005 (VGN1)) is an important parameter for determining the
responsiveness of the servo control. During servo adjustment, the highest extent that this value can
be set to becomes important. The setting value has a large influence on the machine cutting
precision and cycle time.
1) Refer to the following table and set the standard VGN1 according to the size of the entire load
inertia (motor and machine load inertia).
2) If the standard speed gain setting value is exceeded, the current command fluctuation will
increase even if the speed feedback fluctuates by one pulse. This can cause the machine to
vibrate easily, so set a lower value to increase the machine stability.
OSA/OSE105
OSA/OSE104
600
HC-H52 ~ 152 HC-H53 ~ 153
Speed gain setting range (VGN1)
HC-H202 ~ 702
HC-H203 ~ 703
HC-H902, 1102
HC-H903, 1103
Speed
gain
VGN1
300
0
100 300 500 100 300 500 100 300 500 100 300 500
Load inertia scale Load inertia scale Load inertia scale Load inertia scale
(Total load inertia
(Total load inertia
(Total load inertia (Total load inertia
÷ motor inertia)
÷ motor inertia)
÷ motor inertia)
÷ motor inertia)
LM-NP5G-60P
Speed
gain
VGN1
1200
800
Scale resolution
0.01µm
0.1µm
400
0
0 600 1800 3000
Total weight of moving section [kg]
POINT
The final VGN1 setting value is 70 to 80% of the maximum value at which the
machine does not resonate.
Suppressing the resonance with the vibration suppression function and increasing
the VGN1 setting is effective for adjusting the servo later.
5 - 3

5. Adjustment
Set the standard VGN1. Use the standard value if no problem (such as machine resonance) occurs.
If sufficient cutting precision cannot be obtained at the standard VGN1, VGN1 can be raised above
the standard value as long as a 70 percent margin in respect to the machine resonance occurrence
limit is maintained. The cutting accuracy can also be improved by adjusting with the disturbance
observer.
Machine resonance is occurring if the shaft makes abnormal sounds when operating or stopping,
and a fine vibration can be felt when the machine is touched while stopped. Machine resonance
occurs because the servo control responsiveness includes the machine resonance points. (Speed
control resonance points occur, for example, at parts close to the motor such as ball screws.)
Machine resonance can be suppressed by lowering VGN1 and the servo control responsiveness,
but the cutting precision and cycle time are sacrificed. Thus, set a vibration suppression filter and
suppress the machine resonance (Refer to section "5-3-2 Vibration suppression measures"), and
set a value as close as possible to the standard VGN1. If the machine resonance cannot be
sufficiently eliminated even by using a vibration suppression filter, then lower the VGN1.
No. Abbrev. Parameter name Explanation Setting range
SV005 VGN1 Speed loop gain Set this according to the load inertia size.
If vibration occurs, adjust by lowering the setting by 20% to 30% at a time.
1 to 10000
(2) Setting the speed loop leading compensation
The speed loop leading compensation (SV008 (VIA)) determines the characteristics of the speed
loop mainly at low frequency regions. 1364 is set as a standard, and 1900 is set as a standard
during SHG control. The standard value may drop in respect to loads with a large inertia.
When the VGN1 is set lower than the standard value because the load inertia is large or because
machine resonance occurred, the speed loop control band is lowered. If the standard value is set in
the leading compensation in this status, the leading compensation control itself will induce vibration.
In concrete terms, a vibration of 10 to 20Hz could be caused during acceleration/deceleration or
stopping, and the position droop waveform could be disturbed when accelerating to a constant
speed and when stopped. (Refer to the following graphs.)
This vibration cannot be suppressed by the vibration suppression functions. Lower the VIA in
increments of 100 from the standard setting value. Set a value where vibration does not occur and the
position droop waveform converges smoothly. Because lowering the VIA causes a drop in the position
control's trackability, the vibration suppression is improved even when a disturbance observer is used
without lowering the VIA. (Be careful of machine resonance occurrence at this time.)
Speed FB
0
Time
D/A output range
0
Time
Position
droop
0
Time
0
Time
Vibration waveform with leading compensation control
Adjusted position droop waveform
If VIA is lowered, the position droop waveform becomes smooth and overshooting does not occur.
However, because the trackability in respect to the position commands becomes worse, the
positioning time and accuracy are sacrificed. VIA must be kept high (set the standard value) to
guarantee precision, especially in high-speed contour cutting (generally F = 1000 or higher). When
adjusting, the cutting precision will be better if adjustment is carried out to a degree where
overshooting does not occur and a high VIA is maintained, without pursuing position droop
smoothness.
5 - 4

5. Adjustment
If there are no vibration or overshooting problems, the high-speed contour cutting precision can be
further improved by setting the VIA higher than the standard value. In this case, adjust by raising
the VIA in increments of 100 from the standard value.
Setting a higher VIA improves the trackability regarding position commands in machines for which
cycle time is important, and the time to when the position droop converges on the in-position width
is shortened.
It is easier to adjust the VIA to improve precision and cycle time if a large value (a value near the
standard value) can be set in VGN1, or if VGN1 can be raised equivalently using the disturbance
observer.
No. Abbrev. Parameter name Explanation Setting range
SV008 VIA Speed loop leading
compensation
1364 is set as a standard. 1900 is set as a standard during SHG control.
Adjust in increments of approx. 100.
Raise the VIA and adjust to improve the contour tracking precision in
high-speed cutting. If the position droop vibrates (10 to 20Hz), lower the
VIA and adjust.
1 to 9999
(0.0687rad/s)
POINT
Position droop vibration of 10Hz or less is not leading compensation control
vibration. The position loop gain must be adjusted.
5-2-3 Position loop gain
(1) Setting the position loop gain
The position loop gain (SV003 (PGN1)) is a parameter that determines the trackability to the
command position. 33 is set as a standard. Set the same position loop gain value between
interpolation axes.
When PGN1 is raised, the trackability will be raised and the settling time will be shortened, but a speed
loop that has a responsiveness that can track the position loop gain with increased response will be
required. If the speed loop responsiveness is insufficient, several Hz of vibration or overshooting will
occur during acceleration/deceleration. Vibration or overshooting will also occur when VGN1 is
smaller than the standard value during VIA adjustment, but the vibration in the position loop occurs
generally 10Hz or less. (The VIA vibration occurs from 10 to 20Hz.) When the position control includes
machine resonance points (Position control machine resonance points occur at the machine end
parts, etc.) because of insufficient machine rigidity, the machine will vibrate during positioning, etc. In
either case, lower PGN1 and adjust so that vibration does not occur.
If the machine also vibrates due to machine backlash when the motor stops, the vibration can be
suppressed by lowering the PGN1 and smoothly stopping.
If SHG control is used, an equivalently high position loop gain can be maintained while suppressing
these vibrations. To adjust the SHG control, gradually raise the gain from a setting where 1/2 of a
normal control PGN1 where vibration did not occur was set in PGN1. If the PGN1 setting value is
more than 1/2 of the normal control PGN1 when SHG control is used, there is an improvement
effect in position control. (Note that for the settling time the improvement effect is at 1/ 2 or more.)
No. Abbrev. Parameter name Explanation Setting range
SV003 PGN1 Position loop gain 1 Set 33 as a standard. If PGN1 is increased, the settling time will be
shortened, but a sufficient speed loop response will be required.
1 to 400
(rad/s)
SV004 PGN2 Position loop gain 2 Set 0. (For SHG control) 0 to 999
SV057 SHGC SHG control gain Set 0. (For SHG control) 0 to 1200
CAUTION
Always set the same value for the position loop gain between the interpolation
axes.
5 - 5

5. Adjustment
(2) Setting the position loop gain for spindle synchronous control
During spindle synchronous control (synchronous tapping control, etc.), there are three sets of
position loop gain parameters besides the normal control.
No. Abbrev. Parameter name Explanation Setting range
SV049 PGN1sp Position loop gain 1
during spindle
synchronization
SV050 PGN2sp Position loop gain 2
during spindle
synchronization
SV058 SHGCsp SHG control gain
during spindle
synchronization
Set 15 as a standard. Set the same parameter as the 1 to 200
position loop gain for the spindle (rad/s)
synchronous control.
Set 0 as a standard.
(For SHG control)
Set 0 as a standard.
(For SHG control)
0 to 999
0 to 1200
CAUTION
Always set the same value for the position loop gain between the spindle and
servo synchronous axes.
(3) SHG control (option function)
If the position loop gain is increased or feed forward control (NC function) is used to shorten the
settling time or increase the precision, the machine system may vibrate easily.
SHG control changes the position loop to a high-gain by stably compensating the servo system
position loop through a delay. This allows the settling time to be reduced and a high precision to be
achieved. (SHG: Smooth High-Gain)
(Feature 1) When the SHG control is set, even if PGN1 is set to the same value as the conventional
gain, the position loop gain will be doubled.
(Feature 2) The SHG control response is smoother than conventional position control during
acceleration/deceleration, so the gain can be increased further with SHG control
compared to the conventional position control.
(Feature 3) With SHG control, a high gain is achieved so a high precision can be obtained during
contour control.
The following drawing shows an example of the improvement in roundness
characteristics with SHG control.
50.0
: Commanded path
: SHG control (PGN1=47)
: Conventional control (PGN1=33)
0.0
Control
method
Roundness error (µm)
-50.0
-50.0 0.0
50.0
(F=3000mm/min, ERROR=5.0µm/div)
Conventional
control
SHG control
(PGN 33)
SHG control
(PGN 47)
Shape error characteristics
During SHG control, PGN1, PGN2 and SHGC are set with the following ratio.
8
PGN1 : PGN2 : SHGC = 1 :
3 : 6
5.7
2.5
22.5
5 - 6

5. Adjustment
During SHG control even if the PGN1 setting value is the same, the actual position loop gain will be
higher, so the speed loop must have a sufficient response. If the speed loop response is low,
vibration or overshooting could occur during acceleration/deceleration in the same manner as
conventional control. If the speed loop gain has been lowered because machine resonance occurs,
lower the position loop gain and adjust.
No. Abbrev. Parameter name
SV003 PGN1
(SV049) (PGN1sp)
SV004 PGN2
(SV050) (PGN2sp)
SV057 SHGC
(SV058) (SHGCsp)
Position loop gain 1
Setting
ratio
Position loop gain 2 8
3
SHG control gain
SV008 VIA Speed loop leading
compensation
SV015 FFC Acceleration feed
forward gain
Setting example Explanation Setting range
1 23 26 33 38 47 60 70 80 90 100
62 70 86 102 125 160 186 213 240 266
6 140 160 187 225 281 360 420 480 540 600
1 to 400
0 to 999
0 to 1200
Set 1900 as a standard for SHG control. 1 to 9999
Set 100 as a standard for SHG control. 0 to 999
POINT
The SHG control is an optional function. If the option is not set in the CNC, the
alarm 37 (at power ON) or warning E4, Error Parameter No. 104 (2304 for M50/
M60 Series CNC) will be output.
5 - 7

5. Adjustment
5-3 Characteristics improvement
5-3-1 Optimal adjustment of cycle time
The following items must be adjusted to adjust the cycle time. Refer to the Instruction Manuals provided
with each CNC for the acceleration/deceleration pattern.
Rapid traverse rate (rapid) : This will affect the maximum speed during positioning.
Clamp speed (clamp) : This will affect the maximum speed during cutting.
Acceleration/deceleration time : Set the time to reach the feedrate.
constant (G0t∗, G1t∗)
In-position width (SV024) : This will affect each block's movement command end time.
Position loop gain (SV003) : This will affect each block's movement command settling time.
(1) Adjusting the rapid traverse acceleration/deceleration time constants
To adjust the rapid traverse, the CNC axis specification parameter rapid traverse rate (rapid) and
acceleration/deceleration time constant (G0t∗) are adjusted. The rapid traverse rate is set so that
the motor speed matches the machine specifications in the range below the maximum speed in the
motor specifications. For the acceleration/deceleration time constants, carry out rapid traverse
reciprocation operation, and set so that the maximum current command value at acceleration/
deceleration is within the range shown below.
If the drive unit's input voltage is less than the rated voltage, the torque will easily become
insufficient, and excessive errors will occur easily during acceleration/deceleration.
(2) Adjusting the cutting feed acceleration/deceleration time constants
To adjust the cutting rate, the NC axis specification parameter clamp speed (clamp) and acceleration/
deceleration time constant (G1t∗) are adjusted. The in-position width at this time must be set to the
same value as actual cutting.
• Determining the clamp rate and adjusting the acceleration/deceleration time constant
(Features) The maximum cutting rate (clamp speed) can be determined freely.
(Adjustment) Carry out cutting feed reciprocation operation with no dwell at the maximum
cutting rate and adjust the acceleration/deceleration time constant to 90% or less
(refer to following table).
• Setting the step acceleration/deceleration and adjusting the clamp speed
(Features)
The acceleration/deceleration time constant is determined with the position loop
in the servo, so the acceleration/deceleration F∆T can be reduced.
(Adjustment) Set 1 (step) for the acceleration/deceleration time constant and carry out cutting
feed reciprocation operation with no dwell. Adjust the cutting feed rate so that the
maximum current command value during acceleration/deceleration is within the
range shown below, and then set the value in the clamp speed.
2000r/min HC-H Series
Max. current
Motor model
command value
3000r/min HC-H Series
Max. current
Motor model
command value
(HC-H52) (385% or less) (HC-H53) (289% or less)
(HC-H102) (353% or less) HC-H103 276% or less
HC-H152 498% or less HC-H153 351% or less
HC-H202 340% or less HC-H203 318% or less
HC-H352 263% or less HC-H353 243% or less
HC-H452 272% or less HC-H453 243% or less
HC-H702 283% or less HC-H703 194% or less
HC-H902 217% or less HC-H903 219% or less
HC-H1102 200% or less HC-H1103 187% or less
Natural cooling
Oil cooled
Max. current
Max. current
Motor model
Motor model
command value
command value
LM-NP5G-60P 658% or less LM-NP5G-60P 273% or less
5 - 8

5. Adjustment
(3) Adjusting the in-position width
Because there is a response delay in the servomotor drive due to position loop control, a "settling
time" is also required for the motor to actually stop after the command speed from the CNC reaches 0.
The movement command in the next block is generally started after it is confirmed that the machine
has entered the "in-position width" range set for the machine.
Set the precision required for the machine as the in-position width. If a high precision is set
needlessly, the cycle time will increase due to a delay in the settling time.
The in-position width is validated with the servo parameter settings, but there may be cases when
the NC parameters must also be set. Refer to each NC Instruction Manual.
No. Abbrev. Parameter name Unit Explanation Setting range
SV024 INP In-position detection
width
µm Set 50 as a standard.
Set the precision required for the machine.
0 to 32767
POINT
The in-position width setting and confirmation availability depend on the CNC
parameters.
5 - 9

5. Adjustment
(4) Adjusting the settling time
The settling time is the time required for
the position droop to enter the in-position
width after the feed command (F∆T) from
the CNC reaches 0.
The settling time can be shortened by
raising the position loop gain or using SHG
control. However, a sufficient response
(sufficiently large VGN1 setting) for the
speed loop is required to carry out stable
control.
The settling time during normal control
when the CNC is set to linear acceleration/
deceleration can be calculated using the
following equation. During SHG control,
estimate the settling time by multiplying
PGN1 by 2.
10
Settling time (ms) = – 3
×
PGN1
ln
F∆T
0
Position
droop
F
0
G0tL
INP
F × 10 6
60×G0tL×PGN1 2 × 1 – exp
Setting time
–
Time
In-position
PGN1×G0tL
10 3
PGN1 : Position loop gain1 (SV003) (rad/s)
F : Rapid traverse rate (mm/min)
G0tL : Rapid traverse linear acceleration/
deceleration time constant (ms)
INP : In-position width (SV024) (µm)
3000
Speed command
(r/min) 0
Time
-3000
200
Current command
(Rated current %) 0
Time
-200
(Reference)
G0tL =
Example of speed/current command waveform during acceleration/deceleration
The rapid traverse acceleration/deceleration time setting value G0tL for when linear
acceleration/deceleration is set is calculated with the following expression.
(J L + J M ) × No
95.5 × (0.8 × T MAX – T L )
–
6000
( PGN1 × K) 2 (ms)
N O : Motor reach speed (r/min)
J L : Motor shaft conversion load inertia (×10 –4 kg·m 2 )
J M : Motor inertia (×10 –4 kg·m 2 )
T MAX : Motor max. torque
(N·m)
T L : Motor shaft conversion load (friction, unbalance) torque (N·m)
PGN1 : Position loop gain 1
(rad/s)
K : "1" during normal control, "2" during SHG control
5 - 10

5. Adjustment
5-3-2 Vibration suppression measures
If vibration (machine resonance) occurs, it can be suppressed by lowering the speed loop gain (VGN1).
However, cutting precision and cycle time will be sacrificed. (Refer to "5-2-2 Speed loop gain".) Thus, try
to maintain the VGN1 as high as possible, and suppress the vibration using the vibration suppression
functions.
If the VGN1 is lowered and adjusted because vibration cannot be sufficiently suppressed with the
vibration suppression functions, adjust the entire gain (including the position loop gain) again.
• A fine vibration is felt when the machine is touched, or a groaning sound is heard.
• Vibration or noise occurs during rapid traverse.
POINT
Suppress the vibration using the vibration suppression functions, and maintain
the speed loop gain (SV005 (VGN1)) as high as possible.
(1) Machine resonance suppression filter
The machine resonance suppression filter will function at the set frequency. Use the D/A output
function to output the current feedback and measure the resonance frequency. Note that the
resonance frequency that can be measured is 0 to 500Hz. For resonance exceeding 500Hz,
directly measure the phase current with a current probe, etc. (Refer to next page.)
When the machine resonance suppression filter is set, vibration may occur at a separate
resonance frequency that existed latently at first. In this case, the servo control is stabilized when
the machine resonance suppression filter depth is adjusted and the filter is adjusted so as not to
operate more than required.
1. Set the resonance frequency in the machine resonance suppression filter frequency (SV038
(FHz1), SV046 (FHz2)).
2. If the machine starts to vibrate at another frequency, raise (make shallower) the machine
resonance suppression filter depth compensation value (SV033 (SSF2.nfd)), and adjust to the
optimum value at which the resonance can be eliminated.
3. When the vibration cannot be completely eliminated, use another vibration suppression control
(jitter compensation, adaptive filter) in combination with the machine resonance suppression
filter.
No. Abbrev. Parameter name Unit Explanation Setting range
SV038 FHz1 Machine resonance
suppression filter
frequency 1
SV046 FHz2 Machine resonance
suppression filter
frequency 2
Hz
Hz
Set the resonance frequency to be suppressed. (Valid at
36 or more).
Set 0 when the filter is not to be used.
Set the resonance frequency to be suppressed. (Valid at
36 or more).
Set 0 when the filter is not to be used.
0 to 9000
(Hz)
0 to 9000
(Hz)
5 - 11

5. Adjustment
No. Abbrev. Parameter name Explanation
Setting range
(Unit)
HEX setting
F E D C B A 9 8 7 6 5 4 3 2 1 0
dos hvx svx nfd2 nf3 nfd1 zck
bit Meaning when “0” is set Meaning when “1” is set
0 zck Z phase check valid (Alarm 42) Z phase check invalid
1 Set the filter depth for Notch filter 1 (SV038).
2 nfd1 Value 000 001 010 011 100 101 110 111
3
Depth (dB)
Deep
Infntly
deep
-18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2
Shallow
4 nf3 Notch filter 3 stop Notch filter 3 start (1125Hz)
5 Set the filter depth of Notch filter 2 (SV046).
6 nfd2 Value 000 001 010 011 100 101 110 111
SV033
SSF2
Servo function
selection 2
7
Depth (dB)
Deep
Infntly
deep
-18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2
Shallow
8 Set "0".
9 Set "0".
A Set "0".
B Set "0".
C
Digital signal output selection
D
E
F
dos
0000: MP scale absolute position detection, offset demand signal
output
0001: Specified speed signal output
0010 to 1111: Setting prohibited
Measuring the phase current
Direct observation
The phase current is output to the CN9 pin. Connect a hi-corder between the GND (pin 1, 11) and
the phase current to be measured, and observe the state.
7: L axis U-phase current FB
17: L axis V-phase current FB
6: M axis U-phase current FB
16: M axis V-phase current FB
20 ms
Current feedback: 9 crests
Machine
resonance
frequency
=
9 cycles
= 450 Hz
20 x 10 -3 s
1V/div
Set the speed loop gain (SV005: VGN1) to approx. 50 to 100, disconnect
the resonance filter, and measure the waveform while the axis is stopped.
5 - 12

5. Adjustment
This function is compatible with the MDS-CH-V1/V2 Series' machine resonance suppression filter
(SV038: FHz1, SV046: FHz2). Some machines have three or more machine resonance points and
the resonance cannot be eliminated. Try the following methods in this case.
1) When there are three machine resonance points including one exceeding 800Hz
When the 3rd machine resonance filter is set (SV033: nfd3),
the resonance filter is applied at 1125Hz, and the machine may
Machine resonance filter
not resonate at 800Hz or more. Then, remove the remaining
two machine resonances with the 1st and 2nd machine
resonance suppression filters.
If the machine resonance cannot be eliminated even by setting
the 1st and 2nd machine resonance suppression filter
800Hz 1125Hz 1450Hz
frequencies, it may be possible to suppress the machine
resonance by additionally setting the 3rd machine resonance
suppression filter.
[Example] If the machine resonance is approx. 1100Hz and high, validate the 3rd machine
resonance suppression filter. Then, adjust the machine resonance suppression
filters (SV038: FHz1, SV046: FHz2).
2) When there are three or more machine resonance points 1
Eliminate as much of the machine resonance as possible with the 1st and 2nd machine
resonance filters. It may then be possible to eliminate the machine resonance by increasing the
adaptive filter sensitivity (SV027: afse).
3) When there are three or more machine resonance points 2
With the MDS-CH-V1/V2 Series machine resonance
suppression filter, the filter is also applied at the odd-fold of the
set frequency. If one machine resonance is near the odd-fold
of another machine resonance, set the machine resonance
suppression filter frequency to the lower resonance, and try
changing it by approx. 10 to 20Hz. It may be possible to
eliminate two machine resonances by setting the most
effective value.
[Example] If the machine resonates at 300Hz and 900Hz,
both machine resonances can be eliminated by
setting 300Hz.
Machine resonance
300Hz 900Hz 1500Hz
Machine resonance filter
Set 300Hz to suppress the
machine resonance near 900Hz.
4) When machine resonance does not change even when machine resonance filter is set
Only the frequency calculated with the following expression can be set with the MDS-CH-V1/V2
Series machine resonance suppression filter. If the set frequency is not available, set a
frequency that is 1 part of the odd amount (1/3, etc.). It may be possible to eliminate the
machine resonance.
Machine resonance frequency setting range (Hz) = 9000/N (N = 4 to 128)
[Example] To set 1400Hz, setting 470Hz may be just as effective.
5 - 13

5. Adjustment
(2) Jitter compensation
The load inertia becomes much smaller than usual if the motor position enters the machine
backlash when the motor is stopped. Because this means that an extremely large VGN1 is set for
the load inertia, vibration may occur.
Jitter compensation can suppress the vibration that occurs at the motor stop by ignoring the
backlash amount of speed feedback pulses when the speed feedback polarity changes.
Increase the number of ignored pulses by one pulse at a time, and set a value at which the vibration
can be suppressed. (Because the position feedback is controlled normally, there is no worry of
positional deviation.)
When jitter compensation is set to an axis that is not vibrating is set, vibration could be induced, so
take care.
No. Abbrev. Parameter name Explanation
SV027 SSF1 Special servo function Set the jitter compensation with the following parameter.
selection 1
F E D C B A 9 8 7 6 5 4 3 2 1 0
aflt zrn2 afrg afse ovs2 ovs1 lmc2 lmc1 omr vfct2 vfct1 upc vcnt2 vcnt1
bit
No jitter
compensation
One pulse
compensation
Two pulse
compensation
Three pulse
compensation
4 vfct1 0 1 0 1
5 vfct2 0 0 1 1
POINT
Jitter compensation vibration suppression is only effective when the motor is
stopped.
(3) Adaptive filter (option function)
The servo drive unit detects the machine resonance point and automatically sets the filter constant.
Even if the ball screw and table position relation changes causing the resonance point to change,
the filter will track these changes.
Set the special servo function selection 1 (SV027 (SSF1)) bit F to activate the adaptive filter.
If the adaptive filter's sensitivity is low, and the machine resonance cannot be suppressed, set
(SV027 (SSF1)) bits 12 and 13.
No. Abbrev. Parameter name Explanation
SV027 SSF1 Special servo function Activate the adaptive filter by setting the following parameters.
selection 1
F E D C B A 9 8 7 6 5 4 3 2 1 0
aflt zrn2 afrg afse ovs2 ovs1 lmc2 lmc1 omr vfct2 vfct1 upc vcnt2 vcnt1
bit Meaning when "0" is set Meaning when "1" is set
F aflt Adaptive filter stopped Adaptive filter activated
D
C
afrg
afse
00: Normal adaptive filter
sensitivity
11: Increased adaptive filter
sensitivity
POINT
The adaptive filter is an optional function. If the option is not set in the CNC,
alarm 37 (at power ON) or warning E4 "Error Parameter No. 105" (2305 for
M50/M60 Series CNC) will be output.
5 - 14

5. Adjustment
5-3-3 Improving the cutting surface precision
If the cutting surface precision or roundness is poor,
these can be improved by increasing the speed
loop gain (VGN1, VIA) or by using the disturbance
observer function.
Y
• The surface precision in the 45° direction of a
taper or arc is poor.
• The load fluctuation during cutting is large,
causing vibration or surface precision defects to
occur.
X
POINT
Adjust by raising the speed loop gain equivalently to improve cutting surface
precision, even if the measures differ. In this case, it is important how much the
machine resonance can be controlled, so adjust making sufficient use of
vibration suppression functions.
(1) Adjusting the speed loop gain (VGN1)
If the speed loop gain is increased, the cutting surface precision will be improved but the machine
will resonate easily.
The final VGN1 setting should be approx. 70 to 80% of the maximum value where resonance does
not occur. (Refer to "5-2-2 (1) Setting the speed loop gain")
(2) Adjusting the speed loop leading compensation (VIA)
The VIA has a large influence on the position trackability, particularly during high-speed cutting
(generally F1000 or more). Raising the setting value improves the position trackability, and the
contour precision during high-speed cutting can be improved. For high-speed high-precision cutting
machines, adjust so that a value equal to or higher than the standard value can be set.
When VIA is set lower than the standard value and set to a value differing between interpolation
axes, the roundness may worsen (the circle may distort). This is due to differences occurring in the
position trackability between interpolation axes. The distortion can be improved by matching the
VIA with the smaller of the values. Note that because the position trackability is not improved, the
surface precision will not be improved.
(Refer to "5-2-2 (2) Setting the speed loop leading compensation")
No. Abbrev. Parameter name Explanation Setting range
SV005 VGN1 Speed loop gain Increase the value by 10 to 20% at a time.
If the machine starts resonating, lower the value by 20 to 30% at a time.
The setting value should be 70 to 80% of the value where resonance
does not occur.
1 to 999
SV008 VIA Speed loop leading
compensation
1364 is set as a standard. 1900 is set as a standard during SHG control.
Adjust in increments of approx. 100.
Raise the VIA and adjust to improve the contour tracking precision in
high-speed cutting. If the position droop vibrates (10 to 20Hz), lower the
VIA and adjust.
1 to 9999
(0.0687rad/s)
5 - 15

5. Adjustment
(3) Disturbance observer
The disturbance observer can reduce the effect caused by disturbance, frictional resistance or
torsion vibration during cutting by estimating the disturbance torque and compensating it. It also is
effective in suppressing the vibration caused by speed leading compensation control.
Adjust VGN1 to the value where vibration does not occur, and then lower it 10 to 20%.
Set the load inertia scale (SV037 (JL)) with a percentage in respect to the motor inertia of the
total load inertia.
Set the observer filter band (observer pole) in the disturbance observer 1 (SV043 (OBS1)), and
estimate the high frequency disturbance to suppress the vibration. Set "600" as a standard.
Set the observer gain in disturbance observer 2 (SV044 (OBS2)). The disturbance observer
will function here for the first time. Set 100 first, and if vibration does not occur, increase the
setting by 50 at a time to increase the observer effect.
If vibration occurs, lower OBS1 by 50 at a time. The vibration can be eliminated by lowering
OBS2, but the effect of the disturbance observer can be maintained by keeping OBS2 set to a
high value.
No. Abbrev. Parameter name Unit Explanation Setting range
SV037 JL Load inertia scale % Set the load inertia that includes the motor in respect to the
motor inertia. (When the motor is a single unit, set 100%)
JL =
Jl + Jm
Jm
Jm : Motor inertia
Jl : Machine inertia
0 to 5000
(%)
SV043 OBS1 Disturbance observer
1
SV044 OBS2 Disturbance observer
2
kg Set the total weight of the moving section for the linear servo. 0 to 5000
rad/s
Set the observer filter band (observer pole).
Set "600" as a standard, and raise the setting by 50 at a time if
vibration occurs.
% Set the observer gain.
Set 100 to 300 as a standard, and lower the setting if vibration
occurs.
0 to 1000
(rad)
0 to 500
(%)
Machine behavior when machine's center of gravity is high (Example)
If the machine's center of gravity is high, the speed response may drop in respect to the ball screw
section's movement, making it difficult to attain a stable speed range. The disturbance observer is
effective in this case.
Machine
center of
gravity
Movement of machine's
center of gravity
Movement is offset, and
speed response drops.
Motor
Ball screw movement
Before using disturbance observer
After using disturbance observer
Vibration between
10 and 20Hz
Vibration is reduced
Position droop waveform
Position droop waveform
5 - 16

5. Adjustment
(4) Machine side compensation (Machining center)
This function compensates the shape of the machine end during high-speed and high acceleration/
deceleration. The spring effect from the tool (spindle) end to the motor (scale) end is compensated.
If the machine has a large spring effect, the shape may be fine during low-speed operation.
However, at high speeds (specially when using a small diameter), the section from the tool (shaft)
end to the outer sides of the motor (scale) end could swell, and deteriorate the shape (cause the
shape to round).
This function controls the movement of the motor (scale) end caused by the speed, and improves
the tool (spindle) end accuracy at all speeds. This is particularly effective for the roundness
accuracy during servo adjustment. Note that the roundness must be adjusted at the machine end
with a DDB or grid encoder.
• Without machine side compensation
• With machine side compensation
The inner side is driven by the amount
that the end section swells due to the
spring effect.
During high
acceleration, the end
section swells outward
due to the spring effect.
Machine path
(machining surface)
Machine path
(machining surface)
Machine roundness
(machining surface)
Elliptical shape fault
Command path
(ideal path)
Low speed:
Example:
R25mm
F1000mm/min
High speed
(high acceleration):
Example:
R25mm
F10000mm/min
Command path
(ideal path)
Machine roundness
(machining surface)
Elliptical shape is
improved
Both low speed and
high speed are on the
same path.
No. Abbrev. Parameter name Explanation
SV027 SSF1 Servo function The machine side compensation starts with the following parameter.
Setting range
(Unit)
selection 1 F E D C B A 9 8 7 6 5 4 3 2 1 0
aflt zrn2 afse ovs lmc omr zrn3 vfct upc vcnt
bit Meaning when “0” is set Meaning when “1” is set
7 omr Machine side compensation invalid Machine side compensation valid
SV065 TLC Machine side
compensation spring
constant
The value calculated with the following expression is used as the
compensation amount.
Compensation amount (µm) = Command speed F (mm/min)2 × SV065 (TOF)
Radius R (mm) × 10 9
This is the value for an open loop and will actually vary according to the
tool's spring constant. Determine the actual value when adjusting.
Set to "0" when not using this function.
-32768 to
32767
CAUTION
If an excessive value is set in the machine side compensation spring constant
(SV065: TLC), the machine could vibrate when stopping.
5 - 17

5. Adjustment
5-3-4 Improvement of protrusion at quadrant changeover
The response delay (caused by dead band from friction, torsion, expansion/contraction, backlash, etc.)
caused when the machine advance direction reverses is compensated with the lost motion compensation
(LMC compensation) function.
With this, the protrusions that occur at the quadrant changeover in the DBB measurement method, or
the streaks that occur when the quadrant changes during circular cutting can be improved.
Compensation
Cutting
direction
Circle cutting path before compensation Circle cutting path after compensation
DBB: Double Ball Bar
(1) Lost motion compensation (LMC compensation)
The lost motion compensation compensates the response delay during the reversal by adding the
torque command set with the parameters when the speed direction changes. There are three
methods of LMC compensation. Type 2 is explained below.
Type 1 : Compensation effective in areas where axis movement speed is slow.
(Usually, Type 2 is used.)
Type 2 : Compensation effective for lathe systems
Type 3 : Compensation effective for machining centers
Set the special servo function selection 1 (SV027 (SSF1)) bit 9. (The LMC compensation type 2 will
start).
Set the compensation amount with a stall % (rated current % for the general-purpose motor) unit in
the lost motion compensation 1 (SV016 (LMC1)). The LMC1 setting value will be used for
compensation in the positive and negative directions when SV041 (LMC2) is 0.
If the compensation amount is to be changed in the direction to be compensated, set LMC2. The
compensation direction setting will be as shown below with the CW/CCW setting in the NC parameter.
If only one direction is to be compensated, set the side not to be compensated as -1.
Compensation
point
CW
CCW
A X axis: LMC2 X axis: LMC1
+Y
D
The Y axis command direction
changes from + to –.
A
The X axis command direction
changes from + to –.
B Y axis: LMC1 Y axis: LMC2
C X axis: LMC1 X axis: LMC2
-X
+X
D Y axis: LMC2 Y axis: LMC1
C
The X axis command direction
changes from – to +.
-Y
B
The Y axis command direction
changes from – to +.
No. Abbrev. Parameter name Explanation
SV027 SSF1 Special servo function The lost motion compensation starts with the following parameter.
selection 1 F E D C B A 9 8 7 6 5 4 3 2 1 0
aflt zrn2 afrg afse ovs2 ovs1 lmc2 lmc1 omr vfct2 vfct1 upc vcnt2vcnt1
bit No LMC LMC type 1 LMC type 2 Setting prohibited.
8 lmc1 0 1 0 1
9 lmc2 0 0 1 1
No. Abbrev. Parameter name Unit Explanation Setting range
SV016 LMC1 Lost motion Stall % (rated While measuring the quadrant protrusion amount, adjust –1 to 200
compensation 1 current %) with a 5% unit.
The ± direction setting value will be applied when LMC2 is
(%)
SV041 LMC2 Lost motion
compensation 2
Stall % (rated
current %)
set to 0.
Set 0 as a standard.
Set this when the compensation amount is to be changed
according to the direction.
5 - 18
–1 to 200
(%)

5. Adjustment
First confirm whether the axis to be compensated is an unbalance axis (vertical axis, slant axis). If it
is an unbalance axis, carry out the adjustment after performing step "(2) Unbalance torque
compensation".
Next, measure the frictional torque. Carry out reciprocation operation (approx. F1000) with the axis
to be compensated and measure the load current % when fed at a constant speed on the NC servo
monitor screen. The frictional torque of the machine at this time is expressed with the following
expression.
Frictional torque (%) =
(+ feed load current %) – (– feed load current %)
2
The standard setting value for the lost motion compensation 1 (LMC1) is double the frictional torque
above.
(Example)
Assume that the load current % was 25% in the + direction and –15% in the – direction
when JOG feed was carried out at approx. F1000. The frictional torque is as shown
below, so 20% × 2 = 40% (LMC2 remains at zero, and compensation is carried out in
both directions.) is set for LMC1. (LMC2 is left set at 0.) With this setting, 40%
compensation will be carried out when the command reverses from the + direction to the
– direction, and when the command reverses from the – direction to the + direction.
25 – (–15)
2
= 20%
Perform the final adjustment, carrying out the CNC sampling measurement (DBB measurement) or
actual cutting. If the compensation amount is insufficient, increase LMC1 or LMC2 by 5% at a time.
Note that if the setting is too high, biting may occur.
Compensation 0 Optimum Too high
POINT
1. When either parameter SV016 (LMC1) or SV041 (LMC2) is set to 0, the same
amount of compensation is carried out in both the positive and negative direction
with the setting value of the other parameter (the parameter not set to 0).
2. To compensate in only one direction, set -1 in the parameter (LMC1 or LMC2)
for the direction in which compensation is prohibited.
3. The value set based on the friction torque is the standard value for LMC
compensation. The optimum compensation value changes with the cutting
conditions (cutting speed, cutting radius, blade type, workpiece material,
etc.). Be sure to ultimately make test cuts matching the target cutting and
determine the compensation amount.
4. Once LMC compensation type 1 is started, the overshooting compensation
and the adaptive filter cannot be simultaneously started.
5 - 19

5. Adjustment
(2) Unbalance torque compensation
If the load torque differs in the positive and negative directions such as with a vertical axis or slant
axis, the torque offset (SV032 (TOF)) is set to carry out accurate lost motion compensation.
Measure the unbalance torque. Carry out reciprocation operation (approx. F1000) with the axis to
be compensated and measure the load current % when fed at a constant speed on the NC servo
monitor screen. The unbalance torque at this time is expressed with the following expression.
(+ feed load current %) + (– feed load current %)
Unbalance torque (%) =
2
The unbalance torque value above is set for the torque offset (TOF).
If there is a difference in the protrusion amount according to the direction, make an adjustment with
LMC2. Do not adjust with TOF.
(Example)
Assume that the load current % was −40% in the + direction and −20% in the – direction
when JOG feed was carried out at approx. F1000. The unbalance torque is as shown
below, so −30% is set for TOF.
−40 + (−20)
2
= −30%
No.
Abbrev.
Parameter
name
SV032 TOF Torque offset Stall % (rated
current %)
Unit Explanation Setting range
Set this parameter when carrying out the lost motion
compensation.
Set the unbalance torque amount.
–100 to 100
POINT
Even when TOF is set, the torque output characteristics of the motor and load
current display of the CNC servo monitor will not change. Only the
characteristics of the LMC compensation function are affected.
5 - 20

5. Adjustment
(3) Adjusting the lost motion compensation timing
If the speed loop gain has been lowered from the standard setting value because the machine
rigidity is low or because machine resonance occurs easily, or when cutting at high speeds, the
quadrant protrusion may appear later than the quadrant changeover point on the servo control. In
this case, suppress the quadrant protrusion by setting the lost motion compensation timing (SV039
(LMCD)) to delay the LMC compensation.
If a delay occurs in the quadrant protrusion in the circle or arc cutting as shown below in respect to
the cutting direction when CNC sampling measurement (DBB measurement) or actual cutting is
carried out, and the compensation appears before the protrusion position, set the lost motion
compensation timing (SV039 (LMCD)).
While measuring the arc path, increase LMCD by 10 ms at a time, to find the timing that the
protrusion and compensation position match.
After
compensation
Cutting
direction
Before timing delay compensation
After timing delay compensation
No. Abbrev. Parameter name Unit Explanation Setting range
SV039 LMCD Lost motion
compensation timing
ms
Set this when the lost motion compensation timing does not
match. Adjust while increasing the value by 10 at a time.
0 to 2000
(ms)
When the LMCD is gradually raised, a two-peaked contour may occur at the motor side FB position
DBB measurement. However, due to the influence of the cutter diameter in cutting such as end
milling, the actual cutting surface becomes smooth.
Because satisfactory cutting can be achieved even if this two-peaked contour occurs, consider the
point where the protrusion becomes the smallest and finest possible without over compensating
(bite-in) as the optimum setting.
Quadrant changeover point
Cutter center path
Cutter diameter
Actual cutting surface
Cutting direction
Point of LMC compensation execution
5 - 21

5. Adjustment
(4) Adjusting for feed forward control
In LMC compensation, a model position considering the position loop gain is calculated based on
the position command sent from the CNC, and compensation is carried out when the feed changes
to that direction. When the CNC carries out feed forward (fwd) control, overshooting equivalent to
the operation fraction unit occurs in the position commands, and the timing of the model position
direction change may be mistaken. As a result, the LMC compensation timing may deviate, or
compensation may be carried out twice or more.
If feed forward control is carried out and the compensation does not operate correctly, adjust with
the dead band (SV040 (LMCT)) during feed forward control. In this dead band control, overshooting
of the set width or less is ignored. The model position direction change point is correctly recognized,
and the LMC compensation is correctly executed.
This parameter is meaningless when feed forward control is not being carried out.
If the compensation timing deviates during feed forward control, increase the LMCT setting by 1µm
at a time.
Note that 2µm are set even when the LMCT is set to 0.
No. Abbrev. Parameter name Unit Explanation Setting range
SV040 LMCT Dead band during
feed forward control
µm This setting is valid only during feed forward control.
2µm is set when this is set to 0. Adjust by increasing the value
by 1µm at a time.
0 to 100
(µm)
POINT
Setting of the dead band (SV040 (LMCT)) during feed forward control is effective
for improving overshooting compensation mis-operation during feed forward
control.
5 - 22

5. Adjustment
5-3-5 Improvement of overshooting
The phenomenon when the machine position goes past or exceeds the command during feed
stopping is called overshooting. Overshooting is compensated by overshooting compensation
(OVS compensation).
Overshooting occurs due to the following two causes.
Machine system torsion: Overshooting will occur mainly during rapid traverse settling
Machine system friction: Overshooting will occur mainly during one pulse feed
Either phenomenon can be confirmed by measuring the position droop.
Speed
FB
0
Position
command
0
Position
droop
0
Position
droop
0
Overshoot
Overshoot
Time
Time
Overshooting during rapid traverse settling Overshooting during pulse feed
(1) Overshooting compensation (OVS compensation)
In OVS compensation, the overshooting is suppressed by subtracting the torque command set in
the parameters when the motor stops. There are two types (type 1 and type 2) of OVS
compensation. The standard method is type 2.
OVS compensation type 2 has a compensation effect for the overshooting during either rapid
traverse settling or pulse feed. Note that there is no compensation if the next feed command has
been issued before the motor positioning (stop). (Therefore, there is no compensation during circle
cutting.) There is also no compensation for the dead band when the CNC is carrying out feed
forward control. To compensate overshooting during feed forward control, refer to the following
section "(2) Adjusting for feed forward control".
Set the special servo function selection 1 (SV027 (SSF1)) bit B. (OVS compensation type 2 will start.)
Observe the position droop waveform using the D/A output, and increase the overshoot
compensation 1 (SV031 (OVS1)) value 1% at a time. Set the smallest value where the overshooting
does not occur. If SV042 (OVS2) is 0, the overshooting will be compensated in both the
forward/reverse directions with the OVS1 setting value.
If the compensation amount is to be changed in the direction to be compensated, set the + direction
compensation value in OVS1 and the – direction compensation value in OVS2. If only one direction is
to be compensated, set the side not to be compensated as -1. The compensation direction setting will
be as reversed with the NC parameter CW/CCW setting.
POINT
In OVS compensation type 2, there is no compensation in the following cases.
1. There is no compensation if the next feed command has been issued before
the motor positioning (stop). (There is no compensation in circle cutting.)
2. There is no compensation when the CNC is carrying out feed forward (fwd)
control.
5 - 23

5. Adjustment
(2) Adjusting for feed forward control
Use OVS compensation type 3 if overshooting is a problem in contour cutting during feed forward
control.
If OVS compensation type 3 is used to attempt to compensate overshooting, the overshooting may
conversely become larger, or projections may appear during arc cutting. This is because overshooting
equivalent to the operation fraction unit occurs in the position commands when the CNC is carrying
out feed forward (fwd) control. Because of this, the OVS compensation recognizes a change in the
command direction, and executes the compensation in the opposite direction.
If the compensation is in the opposite direction when carrying out feed forward control, adjust with
the dead band (SV034 (SSF3) bit C to F: ovsn) during feed forward control. By ignoring
overshooting of a set width in the ovsn or less, the command direction change point is correctly
recognized, and the OVS compensation is correctly executed.
This parameter is insignificant when feed forward control is not used.
If the OVS compensation is carried out in reverse during feed forward control, increase the LMCT
setting by 1µm at a time.
Note that 2µm are set even when the LMCT is set to 0.
POINT
OVS compensation type 3 is used if overshooting is a problem during feed
forward control.
No. Abbrev. Parameter name Explanation
SV027 SSF1 Special servo function
selection 1
The overshooting compensation starts with the following parameter.
F E D C B A 9 8 7 6 5 4 3 2 1 0
aflt zrn2 afrg afse ovs2 ovs1 lmc2 lmc1 omr vfct2 vfct1 upc vcnt2 vcnt1
bit Meaning when "0" is set. Meaning when "1" is set.
A ovs1
B ovs2
Overshooting compensation type
2 stop
Overshooting compensation type
3 stop
Overshooting compensation type
2 start
Overshooting compensation type
3 start
No.
Abbrev.
Parameter
name
SV031 OVS1 Overshooting
compensation 1
SV042 OVS2 Overshooting
compensation 2
Unit Explanation Setting range
Stall % (rated
current %)
Stall % (rated
current %)
Increase the value by 1% at a time, and find the value where
overshooting does not occur. When OVS2 is set to 0, the
setting value will be applied in both the ± directions.
Set 0 as a standard.
Set this when the compensation amount is to be changed
according to the direction.
–1 to 100
(%)
–1 to 100
(%)
No. Abbrev. Parameter name Explanation
SV034 SSF3 Special servo function The overshooting compensation starts with the following parameter.
selection 3
F E D C B A 9 8 7 6 5 4 3 2 1 0
ovsn linN toff os2 dcd test mohn has2 has1
bit Name Explanation
C
D
E
F
ovsn Set the dead band for the overshoot compensation type 3.
5 - 24

5. Adjustment
POINT
1. When either parameter SV031 (OVS1) or SV042 (OVS2) is set to 0, the same
amount of compensation is carried out in both the positive and negative
direction, using the setting value of the other parameter (the parameter not
set to 0).
2. To compensate in only one direction, set -1 in the parameter (OVS1 or OVS2)
for the direction in which compensation is prohibited.
3. For contour cutting, the projection at the arc end point is compensated with
OVS compensation. LMC compensation is carried out at the arc starting
point.
OVS compensation
LMC compensation
Cutting direction
Work
5 - 25

5. Adjustment
5-3-6 Improvement of characteristics during acceleration/deceleration
(1) SHG control (option function)
Because SHG control has a smoother response during acceleration/deceleration than conventional
position controls, the acceleration/deceleration torque (current FB) has more ideal output
characteristics (A constant torque is output during acceleration/deceleration.) The peak torque is
kept low by the same acceleration/deceleration time constant, enabling the time constant to be
shortened.
Refer to item "(3) SHG control" in section "5-2-3 Position loop gain" for details on setting SHG
control.
3000
Speed command
(r/min)
0
Time
-3000
200
Current FB
(stall current%)
0
Time
-200
Acceleration/deceleration characteristics during conventional control
3000
Speed command
(r/min)
0
Time
-3000
200
Current FB
(stall current %)
0
Time
-200
Acceleration/deceleration characteristics during SHG control
No. Abbrev. Parameter name
SV003
(SV049)
SV004
(SV050)
SV057
(SV058)
SV008
SV015
PGN1
(PGN1sp)
Setting
ratio
Setting example Explanation Setting
range
Position loop gain 1 1 23 26 33 38 47 60 70 80 90 100
1 to 400
(rad/s)
Always set a
PGN2
8
Position loop gain 2
62 70 86 102 125 160 186 213 240 266 combination of 0 to 999
(PGN2sp)
3
3 parameters.
SHGC
(SHGCsp) SHG control gain 6 140 160 187 225 281 360 420 480 540 600 0 to 1200
VIA
FFC
Speed loop leading
compensation
Acceleration feed
forward gain
Set 1900 as a standard value during SHG control. 1 to 9999
Set 100 as a standard value during SHG control. 0 to 999
5 - 26

5. Adjustment
(2) Acceleration feed forward
Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of
30 ms or less is applied, and a position loop gain (PGN1) higher than the general standard value or
SHG control is used. This is because the torque is insufficient when starting or when starting
deceleration, and can be resolved by setting the acceleration feed forward gain (SV015 (FFC)).
This is also effective in reducing the peak current (torque).
While measuring the current command waveform, increase FFC by 50 to 100 at a time and set the
value where vibration does not occur.
Current
command
(%)
200
100
0
200
100
0
0
20
40 60
Time (ms)
80
100
0
20
40 60
Time (ms)
80
100
No FFC setting
With FFC setting
Acceleration feed forward gain means that the speed loop gain during acceleration/deceleration is
raised equivalently. Thus, the torque (current command) required during acceleration/deceleration
starts sooner. The synchronization precision will improve if the FFC of the delayed side axis is
raised between axes for which high-precision synchronous control (such as synchronous tapping
control and superimposition control).
No. Abbrev. Parameter name Unit Explanation Setting range
SV015 FFC Acceleration feed
forward gain
% The standard setting value is 0. To improve the acceleration/
deceleration characteristics, increase the value by 50 to 100 at
a time. During SHG control, the standard setting value is 100.
1 to 999
POINT
Overshooting occurs easily when a value above the standard value is set during
SHG control.
5 - 27

5. Adjustment
(3) Inductive voltage compensation
The current loop response is improved by compensating the back electromotive force element
induced by the motor rotation. This improved the current command efficiency, and allows the
acceleration/deceleration time constant to the shortened.
1. While accelerating/decelerating at rapid traverse, adjust the inductive voltage compensation
gain (SV047 (EC)) so that the current FB peak is a few % smaller than the current command
peak.
3000
Speed command
(r/min)
0
-3000
Current
command
(Rated current %)
200
0
-200
With inductive
voltage
compensation
No inductive voltage
compensation
Time
Time
Inductive voltage compensation
No. Abbrev. Parameter name Unit Explanation Setting range
SV047 EC Inductive voltage
compensation gain
% Set 100 as a standard. Lower the gain if the current FB peak
exceeds the current command peak.
0 to 200
POINT
If the current FB peak becomes larger than the current command peak (over
compensation), an overcurrent (alarm 3A) will occur easily. Note that over
compensation will occur easily if the load inertia is large.
5 - 28

5. Adjustment
5-4 Settings for emergency stop
5-4-1 Vertical axis drop prevention control
The vertical axis drop prevention control is a function that prevents the vertical axis from dropping due to
a delay in the brake operation when an emergency stop occurs. The no-control time until the brakes
activate can be eliminated by delaying ready OFF from the servo drive unit by the time set in the
parameters when an emergency stop occurs.
(1) Operating conditions
The emergency stop signal has been input.
The NC power has been turned OFF.
An alarm has occurred. (This differs according to the occurring alarm. Refer to "Chapter 8
Troubleshooting" for details.)
CAUTION
1. This function does not prevent dropping of the axis under all conditions.
2. The drop prevention function may not activate if the power fails or if a spindle
alarm (overheating, etc.) occurs. To always prevent the vertical axis from
dropping, install a balance unit, etc., on the machine.
(2) Function outline and parameter settings
While stopped ....... The drive unit enters the ready OFF state after the vertical axis drop prevention
time (SV048) has elapsed.
While moving......... Deceleration stop is carried out, and the drive unit enters the ready OFF state
after the larger value of the vertical axis drop prevention time (SV048) and
emergency stop maximum delay time (SV055) has elapsed.
No. Abbrev. Parameter name Explanation Setting range
SV048 EMGrt Vertical axis drop
prevention time
SV055 EMGx Gate cutoff
maximum delay
time during
emergency stop
SV056 EMGt Deceleration control
time constant at
emergency stop
Set the time to delay the ready OFF when an emergency stop
occurs. Set a value larger than the brake activation time.
The set time will not be assured if the power supply to the power
supply unit is cut off.
Set the maximum ready OFF delay time.
This is normally set to the same value as SV048.
To turn ready OFF after a deceleration stop, set the same value as
SV056. Note that this value is valid if SV056 is larger than SV048.
When a value smaller than SV048 is input, the same value as
SV048 will be automatically set.
The set time will not always be assured if the power supply to the
power supply unit is cut off.
Deceleration stop will be carried out if moving when SV048 is set,
so set that deceleration stop time constant.
Normally set the same value as the rapid traverse time constant.
When this parameter is set, a constant inclination direct
deceleration stop control will be carried out at emergency stop.
A step stop (dynamic brake operation) will be carried out when this
parameter is set to "0".
0 to 2000
(ms)
0 to 2000
(ms)
0 to 2000
(ms)
CAUTION
1. The drop prevention function will be invalidated if SV048 and SV055 are both
set to "0".
2. SV048 and SV055 are set for each axis. However, when using a 2-axis drive
unit, the value for the axis with the larger setting will be valid.
3. When only SV048 is set, step stop will be used for deceleration stop and the
machine could vibrate. Thus, set the rapid traverse time constant in SV055.
5 - 29

5. Adjustment
Emergency stop
Emergency stop
Brake activation
Brake activation
Servo ON
Tbd
Tbd: Brake activation
delay time
Servo ON
Tbd
Tbd: Brake activation
delay time
EMGrt
EMGrt > Tbd
Motor speed
0
Rapid
traverse
rate
Command
Actual
operation
EMGt
Detect in-position
and turn servo OFF
EMGx
Drop prevention function sequence at
emergency stop
Deceleration stop function sequence
at emergency stop
(3) Adjustment procedures
• Set the drop prevention function parameters in the vertical axis servo parameters SV048, 055,
and 056.
(a) Carry out emergency stops with SV048 (EMGrt) for the vertical axis set to 50, 100, etc., and
use the smallest drop amount value on the NC screen for the setting value. (Several um will
remain due to the brake play.)
(b) Set SV056 (EMGt). This is normally set to the same value as the rapid traverse time
constant.
(c) Set SV055 (EMGx). This is normally set to the same value as SV048. To turn ready OFF
after a deceleration stop, set the same value as SV056 (EMGt). Note that this value is valid if
SV056 (EMGt) is larger than SV048 (EMGrt).
• If there is another axis (servo/spindle unit) between the vertical axis and power supply unit, set
that axis to the same setting values (SV048, 055, 056) as the vertical axis. (Set the largest value
if there are several vertical axes.)
If the other axis is a spindle, set the spindle parameter SP033 bit F to "1".
MDS-CH-V1
(vertical axis)
CN1A
CN1B
MDS-CH-V1/V2/SP[ ]
(other axis)
CN1A
CN1B
MDS-CH-CV
CN4
CN4
CN4
• If the 2-axis drive unit is an axis controlling a vertical axis or the power supply unit, set the servo
parameters SV048, 055, and 056 for both the L and M axes.
The parameter setting section differs for each system, so change the standard parameter value.
5 - 30

5. Adjustment
5-4-2 Deceleration control
If the deceleration stop function is validated, the MDS-CH-V1/V2 servo drive unit will decelerate to stop
the motor according to the set time constants. After stopping, zero-speed state is immediately notified
and the dynamic brakes will be applied.
If an emergency stop factor (external emergency stop, malfunction in unit, etc.) occurs, operation will be
stopped with the dynamic brakes.
1. When the load inertia is large, deceleration stop can be executed at a shorter time than the dynamic
brakes.
(The stop time for the normal acceleration/deceleration time constants will be achieved.)
(1) Setting the deceleration control time constant
Set the time for stopping from the rapid traverse rate (rapid: axis specification parameter) in the
deceleration time constant for emergency stop (SV056: EMGt).
If linear acceleration/deceleration is selected for rapid traverse, the same value as the acceleration/
deceleration time constant (G0tL) will be the standard value. If another acceleration/deceleration
pattern is selected, set rapid traverse to linear acceleration/deceleration and adjust to a suitable
acceleration/deceleration time constant. Use that value as the standard value.
When an emergency stop occurs, the motor will decelerate at the same inclination from each
speed.
RAPID
Emergency stop occurrence
Constant inclination
deceleration
Motor speed
Dynamic brake
CN20 connector (DBU)
Dynamic brake control output
OFF
ON
OFF
ON
EMGt
Time
No. Abbr. Parameter name Unit Explanation Setting range
SV055 EMGx Gate cutoff
maximum delay
time during
emergency stop
SV056 EMGt Deceleration
control time
constant
ms
ms
This is normally set to the same value as SV056 ENGt.
Set "0" when not using the deceleration stop function or
drop prevention function.
Set the time to stop from the rapid traverse rate (rapid).
As the standard, set the same value as the rapid traverse
acceleration/deceleration time constant (G0tL). Set "0"
when not using the deceleration stop function.
0 to 20000
(ms)
0 to 20000
(ms)
POINT
1. Deceleration control will not take place when a servo alarm, for which the
stopping method is dynamic, occurs. The motor will stop with dynamic
braking regardless of the parameter setting.
2. If the power fails and the deceleration time constant is set to a relatively long
time, the braking method may change from deceleration control to dynamic
braking due to a drop in the bus voltage in the drive unit.
CAUTION
If the deceleration control time constant (EMGt) is set to a value longer than the
acceleration/deceleration time constant, the overtravel point (stroke end point)
may be exceeded.
Take care as the axis could collide with the machine end.
5 - 31

5. Adjustment
5-4-3 Dynamic braking stop
Dynamic braking stop takes place when the deceleration stop function is not used.
With dynamic braking stop, the dynamic brakes activate simultaneously with the occurrence of an
emergency stop. The motor brake control output also activates simultaneously.
Zero-speed state is immediately notified to the NC when dynamic braking stop takes place.
Emergency stop occurrence
Motor speed
Dynamic brake
(Built-in for 9kW and smaller units)
CN20 connector (DBU)
Dynamic brake control output
OFF
ON
OFF
ON
Time
CAUTION
The dynamic brakes cannot be used for normal braking.
If the dynamic brakes activate continuously, the internal regenerative resistor
could burn, so always eliminate the cause of the emergency stop before
resuming operation.
5 - 32

5. Adjustment
5-5 Collision detection function
The purpose of the collision detection function is to quickly detect a collision and decelerate to a stop.
This allows damage to the head to the machine to be reduced.
Impact during a collision cannot be prevented even when the collision detection function is used, so this
function does not guarantee that the machine will not break and does not guarantee the machine fault or
machine accuracy after a collision. Add a mechanism to prevent machine collision, etc., on the machine
side if necessary.
Collisions are detected using the following two methods. In either method, a servo alarm will occur after
deceleration stop.
(1) Collision detection method 1
The required torque is calculated from the position command issued from the NC. The disturbance
torque is calculated from the difference with the actual torque. When this disturbance torque
exceeds the collision detection level set with the parameters, the axis will decelerate to a stop at the
driver unit’s maximum torque. After decelerating to a stop, the alarm will occur, and the system will
stop.
Method 1 only operates when SHG control is being used. (If acceleration/deceleration operation is
carried out when not using SHG control, a load error alarm (58/59) will immediately occur.)
Method 1 enables independent setting of the collision detection levels for rapid traverse and cutting
feed. The collision detection level during cutting feed is set at 0 to 7-fold (integer magnification) of
the collision detection level during rapid traverse. When 0-fold is set, collision detection method 1
will not function during cutting feed.
(2) Collision detection method 2
When the current command reaches the drive unit's maximum current, the axis will decelerate to a
stop at the drive unit's maximum torque. After decelerating to a stop, the alarm will occur, and the
system will stop.
Note that this method can be ignored by setting the servo parameter SV035 (SSF4/cl2n) to "1".
Method 2 detection range
Method 1 detection range
Torque
Actual tolerable
torque range
offset
Estimated torque
Maximum drive
unit capacity
G0 modal collision
detection level
Speed
Friction torque
Method 1 detection range
Method 2 detection range
G0 modal
Maximum driver
capacity
G1 modal
G1 modal collision
detection level
5 - 33

5. Adjustment
1. Confirm that SHG control is being used.
2. SV032 (TOF) Torque offset
Using jog, etc., move the axis to be adjusted at approx. F1000mm/min, and check the load
current on the [I/F Diagnosis Screen/Servo Monitor]. If the current load is positive during
movement, check the maximum value. If the current load is negative during movement, check
the minimum value. Set the average value of the + and - directions.
3. SV045 (TRUB) Friction torque
Using jog, etc., move the axis to be adjusted at approx. F1000mm/min in both directions, and
check the load current on the [I/F Diagnosis Screen/Servo Monitor]. Subtract the current load
value during movement in the - direction from the current load value during movement in the +
direction, and set the absolute position of that value divided by 2.
4. SV059 (TCNV) Torque estimated gain
Set SV035 (SSF4/clt) (bit F) of the axis to be adjusted to "1".
Using jog, etc., move the axis to be adjusted at the maximum rapid traverse rate in both
directions until the MPOF display on the [I/F Diagnosis Screen/Servo Monitor] stabilizes.
Set the MPOF value displayed on the [I/F Diagnosis Screen/ Servo Monitor].
Return the SV035 (SSF4/clt) (bit F) setting to "0".
5. SV035 (SSF4/cl2n) (bit B)
Set this bit to "1" when the acceleration/deceleration time constant is short and the current is
limited.
6. SV060 (TLMT) Collision detection level (for method 1, G0 modal)
Initially set to "100". (When SV035 (SSF4/clet) is set to "1", the MPOF value shows the
estimated disturbance torque peak value for the last two seconds, so this can be used as a
reference when setting. However, this value is averaged, so initially set a value approx. double
the display value.)
Carry out no-load operation at the maximum rapid traverse rate. If it appears an alarm will occur,
raise the setting value in increments of 20.
If it appears an alarm will not occur, lower the setting value in increments of 10.
Set a value 1.5-fold of the limit where an alarm does not occur.
7. SV035 (SSF4/clG1) (bit C to E)
Divide the maximum cutting load by the SV060 (TLMT) setting value. (Round up values below
the decimal.) Set that value.
(Example) When the maximum cutting load is 200%, and the SV060 (TLMT) setting value is 80%.
200/80 = 2.5 → The setting value is rounded up to "3", so 3xxx is set in SV035 (SSF4).
No. Abbr. Parameter name Explanation
SV035 SSF4 Special servo Set the collision detection with the following parameter.
function selection 4
F E D C B A 9 8 7 6 5 4 3 2 1 0
clt clG1 cl2n clet cltq iup tdt
bit Meaning when set to 0 Meaning when set to 1
8,9 cltq Set the deceleration torque for when a collision is detected.
The past two-second estimated
A clet Setting for normal use
disturbance torque peak value is
displayed at MPOF on the Servo
Monitor screen.
B cl2n Setting for normal use
Collision detection method 2 is
invalidated.
Set the collision detection level for the collision detection method
1, G1 modal.
When 0 is set
C
D
E
clG1
: The method 1, G1 modal collision detection
will not be carried out.
When 1 to 7 is set : The method 1, G0 modal collision detection
level (SV060 (TLMT)) will be multiplied by the
set value, and the value is set as the level for
the method 1, G1 modal.
F clt Setting for normal use
The guide value for the SV059
(TCNV) setting value is displayed
at MPOF on the Servo Monitor
screen.
5 - 34

5. Adjustment
No. Abbr. Parameter name Unit Explanation Setting range
SV032 TOF Torque offset Stall %
(rated
current %)
SV045 TRUB Current
compensation/
Frictional torque
SV059 TCNV Torque estimated
gain
SV060 TLMT G0 collision
detection level
Stall %
(rated
current %)
Stall %
(rated
current %)
Set the unbalance torque amount of axes having an
unbalance torque such as vertical axes as a percentage
(%) of the stall rated current.
When using the collision detection function, set the
friction torque as a percentage of the stall rated current.
Use the eight low-order bits.
Set "0" when not using the collision detection function.
When using the collision detection function, set the
estimated torque gain.
A guideline setting value can be displayed in MPOF on the
Servo Monitor screen by setting SV035 (SSF4/clt) to "1".
Set "0" when not using the collision detection function.
When using the collision detection function, set the
collision detection level during method G0 modal as a
percentage of the stall rated current.
Set "0" when not using the collision detection function.
–100 to 100
0 to 100
0 to 32767
0 to 100
CAUTION
1. Even when this function is valid, complete prevention of collisions may not be
possible due to NC faults or the machine structure.
2. If the collision detection level is set very close to its limit, a collision may be
mistakenly detected in a normal status, so set a slightly larger collision
detection level.
3. After adjusting the machine for maintenance, etc., or replacing the motor or
detector, adjust the parameters related to collision detection again.
4. In particular, the SV059 (TCNV) torque estimated gain must be changed
when the detector resolution changes due to detector replacement, or when
the position control system is changed (when the closed loop and
semi-closed loop are changed, etc.).
5 - 35

5. Adjustment
5-6 Spindle adjustment data output function (D/A output)
The spindle drive unit has a function to D/A output various control data.
The drive unit's status and each data can be confirmed using this D/A output function.
5-6-1 D/A output specifications
Item
Explanation
No. of channels
2ch
Output cycle 444µs
Output precision
8bit
Output voltage range 0 to +10V
Output magnification setting ±1/256 to ±128-fold
Output pin
Function
CN9 connector
Channel 1 = Pin 9
Channel 2 = Pin 19
GND = Pins 1, 11
Phase current feedback output function
U phase current FB: pin 7
V phase current FB: pin 17
CN9
20 10
11 1
Speedometer
5-6-2 Parameter settings
Each channel's data number and output magnification are set with the following parameters.
No. Abbr. Parameter name Details
SP253
SP254
SP255
SP256
DA1N0
DA2N0
DA1MPY
DA2MPY
D/A output channel
1 data number
D/A output channel
2 data number
D/A output channel
1 magnification
D/A output channel
2 magnification
Set the output data number for channel 1 of the D/A output function.
* When this parameter is set to "0", the speed meter will be output.
Refer to section "5-6-3" for settings other than "0".
Set the output data number for channel 2 of the D/A output function.
* When this parameter is set to "0", the load meter will be output.
Refer to section "5-6-3" for settings other than "0".
Set the data magnification for channel 1 of the D/A output function.
* The magnification is the setting value divided by 256-fold.
Note that if "0" is set, the magnification will be 1-fold.
Set the data magnification for channel 2 of the D/A output function.
* The magnification is the setting value divided by 256-fold.
Note that if "0" is set, the magnification will be 1-fold.
5-6-3 Output data settings
Set the No. of the data to be output in SP253 and SP254.
A correlation of the output data and the data No. is shown below.
* The values in brackets indicate the conversion value for the output voltage 1V change. (Note that this
is when the magnification is set to 1-fold.)
Data No.
CH1
CH2
(setting value) Output data Units Output data Units
0 (Normal) Speedometer output Maximum speed at 10V (Note 2) Load meter output 120% load at 10V
2 Current command
When the actual data is 4096, the current command data is regarded
(Note 1)
as 100%. [0.625%/V]
3 Current feedback
When the actual data is 4096, the current feedback data is regarded
(Note 1)
as 100%. [0.625%/V]
4 Speed feedback Actual data r/min [25.6r/min/V]
6 Position droop low-order
7 Position droop high-order
8 Position F∆t low-order
9 Position F∆t high-order
10 Position command low-order
11 Position command high-order
12 Feedback position low-order
13 Feedback position high-order
80 Control input 1
81 Control input 2
82 Control input 3
83 Control input 4
84 Control output 1
85 Control output 2
86 Control output 3
87 Control output 4
Interpolation units (When the actual data is 23040000, the position droop data is
regarded as 360°.) [low-order: 0.0004°/V, high-order: 26.2°/V]
Interpolation units/NC communication cycle
[low-order: 0.0004°/V, high-order: 26.2°/V]
Interpolation units (When the actual data is 23040000, the position command data
is regarded as 360°.) [low-order: 0.0004°/V, high-order: 26.2°/V]
Interpolation units (When the actual data is 23040000, the feedback position data
is regarded as 360°.) [low-order: 0.0004°/V, high-order: 26.2°/V]
Bit correspondence
Bit correspondence
Note 1) The spindle motor's 30-minute rated output is 100%.
Note 2) The maximum speed (motor rotation speed) at the speedometer 10V output can be changed with parameter "SP249".
5 - 36

5. Adjustment
5-6-4 Setting the output magnification
Set the output magnification of the data to be output in SP255 and SP256.
DATA = actual data ×
SP255 or SP256
Expression
256
The output data has the D/A output specifications shown in "Fig. 1" below.
* When the data is "0", the output will be 5V. (0 offset: 5V)
When the maximum data "127" is set, the output will be 10V. When the minimum data "–128" is set, the
output will be 0V.
(Note) The speedometer output and load meter output data will have the D/A output specifications
shown in "Fig. 2" below.
+10V
+10V
+5V
+5V
DATA
-128 0 +127
+127 +255
Fig. 1 Fig. 2
DATA
(Example 1) Current command, current feedback
The data is regarded as 100% when the actual data is 4096.
Therefore, for example, the actual data is output as shown below during +120% current
feedback.
Actual data = 4096 × 1.2 = 4915
If parameter SP255 (SP256) is set to "256", or if the magnification is set to 1-fold, the D/A
output voltage will be as follows according to Expression .
DATA = 4915 > +128
The D/A output maximum voltage value will be exceeded. Thus, in this case, parameter
SP255 (SP256) will be set in the following manner.
DATA = 4915 ∗ {setting value} / 256 < 128
Thus, {setting value} < 6.666.... (= 128 ∗ 256/4915), and the data can be confirmed with
the SP255 (SP254) setting value "6".
At this time, the D/A output voltage value will be:
D/A output voltage = 5V + {4915 × 6/256 × (5V/128)} = 9.5V.
An example of the waveform is shown below.
10
133%
9.5V 120%
D/A output voltage (V)
(current command)
5
0%
Current command
conversion value
(%)
Time
0
Example of current command waveform
5 - 37
–133%

5. Adjustment
(Example 2) Speed Feedback
The data unit is r/min.
Thus, if the motor is rotating at +2000r/min, the actual data "2000" will be output.
If parameter SP255 (SP256) is set to "256", or if the magnification is set to 1-fold, the D/A
output voltage will exceed the maximum value (DATA = 2000 > +128).
Thus, in this case, parameter SP255 (SP256) should be set as follows.
DATA = 2000 ∗ {setting value} / 256 < 128
Thus, {setting value} < 16.384 (= 128 ∗ 256/2000)
The data can be confirmed by setting SP255 (SP254) to "16".
At this time, the D/A output voltage value (= 5V + {2000 × 16/256 × (5V/128)}) will be
9.88V.
2000
10V
Speed FB
conversion value
(r/min)
0
Time
5V
D/A output voltage (V)
(Speed FB)
-2000
120
0V
Current command
(rated current %)
0
-120
Time
Example of speed/current command waveform during acceleration/deceleration
(Example 3) Position droop
The data unit is a value equivalent to 360° when the actual data is 23040000.
Thus, when the position droop is +0.1 degrees, the actual data 0.1 × 23040000/360 =
6400 will be output.
If parameter SP255 (SP256) is set to "256", or if the magnification is set to 1-fold, the D/A
output voltage will exceed the maximum value (DATA = 6400 > +128).
Thus, in this case, parameter SP255 (SP256) should be set as follows.
DATA = 6400 ∗ {setting value} / 256 < 128
Thus, {setting value} < 5.12 (= 128 ∗ 256/6400)
The data can be confirmed by setting SP255 (SP256) to "5".
At this time, the D/A output voltage value (= 5V + {6400 × 5/256 × (5V/128)}) will be
9.88V.
5 - 38

5. Adjustment
(Example 4) Confirm the orientation complete signal with the control output 4L.
The data unit is bit corresponding data.
Refer to the section "1.1" for the meanings of the control output 4L bit corresponding
signals.
The orientation complete signal corresponds to the control output 4L/bit 4.
Thus, if the orientation complete signal is ON for example, bit 4 will be set to "1", and the
actual data 16 (=2 4 ) will be output.
If parameter SP255 (SP256) is set to "256", or if the magnification is set to 1-fold, the D/A
output voltage will be less than the maximum value (DATA = 16 < +128), so the data can
be confirmed.
The D/A output voltage value (= 5V + {16 × 256/256 × (5V/128)}) will be 5.625V.
Note that if bits other than bit 4 are ON, the voltage of that bits will be added to the value
6.25V above, when measuring the actual orientation complete signal, check with the
(5.625V-5V) = 0.625V changed voltage.
(Note) When orientation is completed, indexing position complete (bit 7) will turn ON
simultaneously, so the actual data = 128 (=2 7 ) will be added.
* D/A output voltage = 5V + {(16 + 128) × 256/256 × (5V/128)} = 10.625V
[Reference]
If 10V is exceeded, as explained above, the data will overflow, so the actual voltage will
be (= calculated D/A voltage – 10∗n: n is the maximum integer that establishes a
positive value in the right side of the expression).
Example: When above indexing position complete signal is added
V = 10.625 – 10∗1 = 0.625 (V)
Orientation start
Orientation speed
When orientation complete
signal turns OFF
Motor speed
0
Time
10V
Orientation complete
signal
OFF
ON
5.625V
5V
0.625V
D/A output voltage (V)
(Speed FB)
Orientation time
0V
5 - 39

5. Adjustment
5-7 Spindle adjustment
The MDS-CH-SP[ ] spindle drive unit has a function to D/A output various control data.
The drive unit's status and each data can be confirmed using this D/A output function.
5-7-1 Items to check during trial operation
Directly couple the motor and machine, and check the control status during machine run-in.
(1) Check that the command speed and actual speed match.
(a) If the speeds do not match, check spindle parameters SP000 to SP384 again.
(Especially check SP017, SP034, SP040 and SP257 to SP384.)
(b) Check the NC parameters Slimit1 to 4, Smax 1 to 4, and Smini.
(2) Is the rotation smooth?
(3) Is there any abnormal noise?
(4) Are there any abnormal odors?
(5) Has the bearing temperature risen abnormally?
5-7-2 Adjusting the spindle rotation speed
The rotation speed is received as digital signals from the NC, and thus does not need to be adjusted. If
the spindle rotation speed does not match the commanded value due to a dimensional error, such as
the pulley diameter, adjust the parameters with the following method.
1. Setting Slimit
Slimit = (SP017 value) × (deceleration rate between motor and spindle)
2. Set the S command to half of the maximum spindle rotation speed, and then measure the spindle
rotation speed.
If the speeds do not match, change the Slimit value in small increments until the speed matches.
3. Set the S command to the maximum spindle rotation speed, and check whether the spindle rotation
speed matches.
4. In machines involving gear changeover, etc., change the gears, and then adjust with steps 1. to 3.
above.
5-7-3 Adjusting the acceleration/deceleration
Measure the acceleration/deceleration waveform using the "5-6. Spindle adjustment data output
function (D/A output function)", and confirm that it is within ±15% of the theoretical
acceleration/deceleration time. (Note: Refer to "5-7-8" for details on calculating the theoretical
acceleration/deceleration time.) Adjust SP087 and SP088.
(1) When acceleration/deceleration time do not match theoretical values
• If there is an error in the motor shaft conversion load inertia calculation, these may not necessary
match.
Check load inertia again.
• If the acceleration time is long and the deceleration time is short, the friction torque may be large.
Check the load meter value (Spindle Monitor screen) at the maximum speed. If 10% or more, the
friction torque may be relatively high. There may be mechanical friction such as bearing friction or
timing belt friction. After running in the machine, measure the acceleration/deceleration time
again.
* If the acceleration/deceleration times do not match even when the above problems are not
present, the spindle motor and spindle drive unit may not be the designated products, or one of
the parameter settings may be incorrect. Check the spindle motor and drive unit models, and
check the parameters again.
(2) When the acceleration time is no problem but the deceleration time differs greatly from the
acceleration time.
Adjust the deceleration time as indicated on the next page.
5 - 40

5. Adjustment
Deceleration adjustment procedures
Adjust SP087 as shown below so that the deceleration time is the same as the acceleration time.
Initial setting value
Speedometer display
Max. r/min
Torque limit
100%
Measure acceleration/
deceleration waveform at
spindle maximum speed
command
Ta
Td
0 r/min
SP087
SP088
SP017
Speed
1.1 × Ta < Td
Yes
No
0.95 × Ta > Td
Yes
No
Set SP087 setting
value to -5
Set SP087 setting
value to +5
Measure acceleration/
deceleration waveform at
spindle maximum speed
command
Measure acceleration/
deceleration waveform at
spindle maximum speed
command
0.95 × Ta > Td
Yes
1.1 × Ta < Td
Yes
No
No
Set the SP087 value
at this point.
Variable current loop gain adjustment
Adjust so that the current output to the spindle motor is stable. In most cases, the default value can
be used. However, if fine vibration (hunting), etc., occurs at high speed regions, this must be
adjusted.
Operate at maximum
speed
Hunting { Abnormal
high-frequency vibration }
Yes
No
SP017
Motor maximum
speed
SP067
VIGWA
SP068
VIGWB
SP069
VIGN
0 to 6000 0 0 0
6001 to 8000 5000 8000 32
8001 or more 5000 10000 32
SP069 × (1/16)-fold
Gain
Decrease SP069 value
in increments of -8.
Groaning { Abnormal
low-frequency vibration }
Yes
No
1-fold
SP067
SP068
SP017
Speed
Increase SP069 value
in increments of +8.
Maximum speed →
decelerate
Alarm 32 or 75 occurs.
Yes
Increase or decrease SP069
value by +8 or -8 units
No
Set the SP069
value at this point.
5 - 41

5. Adjustment
5-7-4 Adjusting the orientation
Orientation is not possible if the gear ratio between the spindle motor and spindle exceeds 1:31.
(1) Preparing to adjust the orientation
1) Motor built-in encoder parameters
No. Abbr. Parameter name Initial value
SP001 PGM Motor built-in encoder orientation position loop gain 100
SP004 OINP Orientation in-position width 16
SP005 OSP Orientation mode changing speed limit value 0
SP006 CSP Orientation mode deceleration rate 20
SP007 OPST Position shift amount for orientation 0
SP025 GRA1 Spindle gear teeth count 1 1
SP026 GRA2 Spindle gear teeth count 2 1
SP027 GRA3 Spindle gear teeth count 3 1
SP028 GRA4 Spindle gear teeth count 4 1
SP029 GRB1 Motor shaft gear teeth count 1 1
SP030 GRB2 Motor shaft gear teeth count 2 1
SP031 GRB3 Motor shaft gear teeth count 3 1
SP032 GRB4 Motor shaft gear teeth count 4 1
SP097 SPECO Orientation specification 0000
SP098 VGOP Speed loop gain proportional term in orientation mode 63
SP099 VGOI Speed loop gain integral term in orientation mode 60
SP100 VGOD Speed loop gain delay advance term in orientation mode 15
SP105 IQGO Current loop gain magnification 1 in orientation mode 100
SP106 IDGO Current loop gain magnification 2 in orientation mode 100
SP107 CSP2 Deceleration rate 2 in orientation mode 0
SP108 CSP3 Deceleration rate 3 in orientation mode 0
SP109 CSP4 Deceleration rate 4 in orientation mode 0
SP119 MPGH Orientation position loop gain H coil magnification 0
SP120 MPGL Orientation position loop gain L coil magnification 0
SP121 MPCSH Orientation deceleration rate H coil magnification 0
SP122 MPCSL Orientation deceleration rate L coil magnification 0
[Preparation]
1) Confirm that the parameters are set as shown above.
Note: 1) Motor built-in encoder orientation is only possible when the spindle and motor are directly
connected or are connected with gears (timing belt) at 1:1.
The built-in encoder with Z-phase must be mounted in the motor being used.
5 - 42

5. Adjustment
2) Encoder orientation parameters
No. Abbr. Parameter name Initial value
SP002 PGE Encoder orientation position loop gain 100
SP004 OINP Orientation in-position width 16
SP005 OSP Orientation mode changing speed limit value 0
SP006 CSP Orientation mode deceleration rate 20
SP007 OPST Position shift amount for orientation 0
SP025 GRA1 Spindle gear teeth count 1 1 to 32767
SP026 GRA2 Spindle gear teeth count 2 1 to 32767
SP027 GRA3 Spindle gear teeth count 3 1 to 32767
SP028 GRA4 Spindle gear teeth count 4 1 to 32767
SP029 GRB1 Motor shaft gear teeth count 1 1 to 32767
SP030 GRB2 Motor shaft gear teeth count 2 1 to 32767
SP031 GRB3 Motor shaft gear teeth count 3 1 to 32767
SP032 GRB4 Motor shaft gear teeth count 4 1 to 32767
SP096 EGRA Encoder gear ratio 0
SP097 SPECO Orientation specification 0000
SP098 VGOP Speed loop gain proportional term in orientation mode 63
SP099 VGOI Speed loop gain integral term in orientation mode 60
SP100 VGOD Speed loop gain delay advance term in orientation mode 15
SP105 IQGO Current loop gain magnification 1 in orientation mode 100
SP106 IDGO Current loop gain magnification 2 in orientation mode 100
SP107 CSP2 Deceleration rate 2 in orientation mode 0
SP108 CSP3 Deceleration rate 3 in orientation mode 0
SP109 CSP4 Deceleration rate 4 in orientation mode 0
SP119 MPGH Orientation position loop gain H coil magnification 0
SP120 MPGL Orientation position loop gain L coil magnification 0
SP121 MPCSH Orientation deceleration rate H coil magnification 0
SP122 MPCSL Orientation deceleration rate L coil magnification 0
[Preparation]
1) The correct gear ratio (or pulley ratio) must be set
from the motor shaft to the encoder rotation shaft.
Confirm that the correct number of gear teeth is set in
SP025 (GRA1) to SP032 (GRB4).
SP025 (GRA1) to SP028 (GRA4) = A × C × E
SP029 (GRB1) to SP032 (GRB4) = B × D × F
Note: SP025 (GRA1) to SP032 (GRB4) may be set
to the user settings, so correctly set according
to the machine.
2) Confirm that the parameters are set as shown above.
Spindle
A
B
A
D
C
F
Encoder
E
Spindle
motor
5 - 43

5. Adjustment
3) Magnesensor orientation parameters
No. Abbr. Parameter name Initial value
SP001 PGM Magnetic sensor orientation position loop gain 100
SP004 OINP Orientation in-position width 16
SP005 OSP Orientation mode changing speed limit value 0
SP006 CSP Orientation mode deceleration rate 20
SP007 OPST Position shift amount for orientation 0
SP025 GRA1 Spindle gear teeth count 1 1 to 32767
SP026 GRA2 Spindle gear teeth count 2 1 to 32767
SP027 GRA3 Spindle gear teeth count 3 1 to 32767
SP028 GRA4 Spindle gear teeth count 4 1 to 32767
SP029 GRB1 Motor shaft gear teeth count 1 1 to 32767
SP030 GRB2 Motor shaft gear teeth count 2 1 to 32767
SP031 GRB3 Motor shaft gear teeth count 3 1 to 32767
SP032 GRB4 Motor shaft gear teeth count 4 1 to 32767
SP097 SPECO Orientation specification 0000
SP098 VGOP Speed loop gain proportional term in orientation mode 63
SP099 VGOI Speed loop gain integral term in orientation mode 60
SP100 VGOD Speed loop gain delay advance term in orientation mode 15
SP105 IQGO Current loop gain magnification 1 in orientation mode 100
SP106 IDGO Current loop gain magnification 2 in orientation mode 100
SP107 CSP2 Deceleration rate 2 in orientation mode 0
SP108 CSP3 Deceleration rate 3 in orientation mode 0
SP109 CSP4 Deceleration rate 4 in orientation mode 0
SP119 MPGH Orientation position loop gain H coil magnification 0
SP120 MPGL Orientation position loop gain L coil magnification 0
SP121 MPCSH Orientation deceleration rate H coil magnification 0
SP122 MPCSL Orientation deceleration rate L coil magnification 0
SP123 MGD0 Magnetic sensor output peak value Standard magnet = 542
Compact magnet = 500
SP124 MGD1 Magnetic sensor linear zone width Standard magnet = 768
Compact magnet = 440
SP125 MGD2 Magnetic sensor changeover point Standard magnet = 384
Compact magnet = 220
[Preparation]
1) The correct gear ratio (or pulley ratio) must be set
from the motor shaft to the magnetic sensor rotation
shaft. Confirm that the correct number of gear teeth
is set in SP025 (GRA1) to SP032 (GRB4).
SP025 (GRA1) to SP028 (GRA4) = A × C × E
SP029 (GRB1) to SP032 (GRB4) = B × D × F
Spindle
Note: 1) SP025 (GRA1) to SP032 (GRB4) may be set to the user settings, so correctly set
according to the machine.
2) Confirm that the parameters are set as shown above.
B
A
D
C
F
E
Spindle
motor
5 - 44

5. Adjustment
(2) General adjustment of orientation
1) First confirm that the orientation command (ORC) is input while the machine is in the correct
state, and that the orientation complete signal (ORCF) turns ON when there is even one
unstable operation point. If the excessive error alarm (AL52) occurs, or if the operation does not
stop and forward/reverse run is repeated at a low speed during magnetic sensor orientation,
change the value set in SP097 (SPECO) bit-5 or -6. Refer to section 3) if the excessive error
alarm is not eliminated even after changing this value.
2) Adjust the position shift SP007 (OPST) value so that the machine stops at the target stop
position. If the stop position command data is input from an external source during encoder or
motor PLG orientation, the machine will stop as shown below according to the issued data
regardless of the detector's installation direction. The 0° position shown below will be shifted by
SP007 (OPST).
0H
(0°)
A
Encoder
400H
(90°)
C00H
(270°)
A
Spindle
B
A
C
D
E
F
Spindle
motor
800H
(180°)
View A
Note 1) The external stop position command data is read in at the rising edge of orientation start, so
always change it before inputting the orientation start command. It will not be valid if
changed after orientation starts.
3) Adjusting the orientation time and vibration
Normal rotation
speed
Orientation
changeover
speed
Phenomenon
Overtravels when
stopping
SP001/SP002
Decrease the setting
value
Adjustment knack
SP006
Decrease the setting
value
Orientation time is
long
Increase the setting
value
Increase the setting
value
Hunting occurs when
stopping
Decrease the setting
value
Do not change
Excessive error alarm
occurs
Decrease the setting
value
Decrease the setting
value
Whether to adjust SP001 (PGM) or SP002 (PGE) depends on the orientation method.
SP006 (CSP) is adjusted after adjusting SP001 (PGM)/SP002 (PGE).
To adjust the orientation time quickly for each gear, adjust SP107(CSP2) to SP109(CSP4) in the
same manner.
Similarly, when using the coil changeover motor, adjust SP119 (MPGH) to SP122 (MPCSL) to
adjust the orientation time quickly for each coil.
If the excessive error alarm (52) occurs at a gear ratio of 1:10 or more, and the state cannot be
improved with the adjustments above, adjust SP005 (OSP).
If the motor hunts during orientation stop, review the values set in SP001 (PGM) or SP002 (PGE).
5 - 45

5. Adjustment
(3) Adjusting the servo rigidity
The cutting precision can be increased by raising the servo rigidity during orientation stop.
1. Increase the SP001 (PGM) or SP002 (PGE) value to the degree that overtravel does not occur
during orientation stop.
2. Increase SP0098 (VGOP) and SP099 (VGOI) by the same amount to the degree that vibration
does not occur.
3. The servo rigidity can be increased momentarily by increasing the SP100 (VGOD) value.
Increasing the SP100 (VGOD) value: Adverse effects may occur such as a drop in the torque
in respect to the position deflection, or an inconsistency in the stopping position.
Setting the SP100 (VGOD) value to 0: PI control will be applied. The servo rigidity will drop
momentarily, but the stopping position precision will increase.
Note 1) Delay/advance control and PI control
When stopping orientation for a normal tool change, etc., select delay/advance control.
(SP100=0)
However, if the spindle's frictional torque is large, and a precise stopping position is
required, select PI control. (SP100=0).
Examples of using PI control
1. Positioning a workpiece with a lathe.
2. Orientation of a machine which indexes a 5-plane machining attachment.
Note 2) If the gear ratio between the spindle and motor is large, it may not be possible to set the
SP001 (PGM), SP002 (PGE) and SP006 (CSP) values as required, and the values may
be limited.
In this case, the setting value will change, but the value will be clamped internally, so the
changes will not be visible.
Note 3) If the forward run and reverse run stop positions differ even when using PI control, the
machine's backlash may be large. In this case, the stopping precision may be improved
by fixing the orientation rotation direction to one direction. (Set with SP097 (SPECO) bit-0,
1.)
Note 4) If the spindle is mechanically locked during orientation stop, always input a torque limit so
that the motor's output torque is restricted. (Recommended torque limit: 10% or less)
(4) Troubleshooting
1) Orientation does not take place (motor keeps rotating)
Cause Investigation item Remedy Remarks
Parameter setting
values are
incorrect
The specification
are not correct
Incorrect wiring
The orientation detector and
parameter do not match.
SP037 (SFNC5)
Motor built-in encoder
orientation.......................... 4
Encoder orientation .............. 1
Magnetic sensor orientation . 2
Motor built-in encoder orientation
is attempted with standard motor
instead of motor with Z phase.
The connector pin numbers are
incorrect,
The inserted connector number is
incorrect, or
The cable is disconnected.
Correctly set SP037 (SFNC5).
Change to a motor having a
motor-built-in encoder with Z
phase.
Correct the wiring.
Replace the cable.
For motor built-in
encoder
orientation
5 - 46

5. Adjustment
2) The motor overtravels and stops. (The motor sways when stopping.)
Cause Investigation item Remedy Remarks
Parameter setting
values are
incorrect
The gear ratio parameters SP025
(GRA1) to SP032 (GRB4) are
incorrect.
The phenomenon is improved
when the deceleration rate for
orientation parameter SP006
(CSP) is halved.
The phenomenon is improved
when the position loop gain
parameters SP001 (PGM) and
SP002 (PGE) are halved.
3) The stopping position deviates.
The orientation stop direction is
set to one direction (CCW or CW).
Correctly set SP025 (GRA1) to
SP032 (GRB4).
Readjust SP006 (CSP)
Readjust SP001 (PGM),
SP002 (PGE).
Set the SP097 (SPECO) bit 0,
1 to "0" (pre).
This also applies
to:
SP107 (CSP2)
SP108 (CSP3)
SP109 (CSP4)
SP121 (MPCSH)
SP122 (MPCSL)
This also applies
to:
SP119 (MPGH)
SP120 (MPGL)
Cause Investigation item Remedy Remarks
Mechanical cause
Noise
The magnetic
sensor installation
direction is
incorrect
The stopping position is not
deviated with the encoder axis.
The position detector's cable is
relayed with a terminal block
(connector), etc.
The position detector cable's
shield is not treated properly.
The peeled section of signal wire
at the position detector cable's
connector section is large. (A large
section is not covered by the
shield.)
Check the relation of the magnet
and sensor installation following
section 6-37.
There is backlash or slipping,
etc., between the spindle and
encoder.
The gear ratio between the
spindle and encoder is not 1:1
or 1:2.
There is backlash or slipping
between the spindle and
motor.
The gear ratio between the
spindle and motor is not 1:1.
Do not relay the cable.
Properly treat the shield.
Keep the peeled section to
3cm or less when possible.
Keep the peeled section as far
away from the power cable as
possible.
Correct the relation of the
magnet and sensor
installation.
For encoder
orientation
For motor built-in
encoder
orientation
For magnetic
sensor
orientation.
4) The stopping position does not change even when the position shift parameter is changed.
Cause Investigation item Remedy Remarks
Parameter setting
values are
incorrect
The position shift was changed to
2048 when the gear ratio between
the spindle and encoder was 1:2
(one encoder rotation at two
spindle rotations).
If the gear ratio on the left is
established between the
spindle and encoder, the
position shift amount for one
spindle rotation is 2048 instead
of 4096.
5 - 47

5. Adjustment
5) The machine vibrates when stopping.
Cause Investigation item Remedy Remarks
Parameter setting
values are
incorrect
The orientation
adjustment is faulty
The gear ratio parameters SP025
(GRA1) to SP032 (GRB4) are
incorrect.
The vibration frequency is several
Hz.
The vibration frequency is 10Hz or
more.
6) The orientation complete signal is not output
Correctly set SP025 (GRA1) to
SP032 (GRB4).
Decrease the position loop
gain parameters SP001 (PGM)
and SP002 (PGE).
Increase the current loop gain
for orientation parameters
SP105 (IQGO) and SP106
(IDGO).
Decrease the speed loop gain
for orientation parameters
SP098 (VGOP) and SP099
(VGOI).
Decrease the current loop gain
for orientation parameters
SP105 (IQGO) and SP106
(IDGO).
Cause Investigation item Remedy Remarks
Refer to section (1) Orientation does not take place.
The machine's load
is heavy
The in-position parameter SP004
(OINP) is too small.
Phenomenon is improved if the
control for orientation stopping is
changed from delay/advance to PI
control.
Review the in-position range,
and increase SP004 (OINP).
Review the values set for the
speed loop gain for orientation
parameters SP098 (VGOP),
SP099 (VGOI) and SP100
(VGOD).
5 - 48

5. Adjustment
5-7-5 Synchronous tap adjustment
Always adjust the synchronous tap after adjusting the operation following the speed command and the
acceleration/deceleration time, and after adjusting the servo axis synchronized with the spindle during
synchronous tap.
(1) Preparation for adjustment
Check the input spindle parameters again.
1) Base specification parameters (NC parameter)
The numbers may differ or the meaning may differ according to the NC, so refer to the NC
Maintenance Manual for details.
No. Abbr. bit Details
1229 set01 4 Always set this bit to "1" when carrying out synchronous tap in the G74, G84 tap cycle.
mpar1 3 Determine the inclination of the command time constant for synchronous tap.
When "0" is set, constant time constants will be applied and when "1" is set, inclined constants will
be applied.
When "1" is set, set the time constants in the spindle specification parameters stapt1 to 4.
tap-t1 – Set the time constants for when "0" is set in mpar1 bit-3.
2) Spindle specification parameters (NC parameters)
Refer to section 4-3-4(1) for details.
No. Abbr. Details
13 stap1 Set the maximum spindle speed for synchronous tap at gear 00.
14 stap2 Set the maximum spindle speed for synchronous tap at gear 01.
15 stap3 Set the maximum spindle speed for synchronous tap at gear 10.
16 stap4 Set the maximum spindle speed for synchronous tap at gear 11.
17 stapt1 Set the time constant up to the maximum speed for synchronous tap at gear 00.
18 stapt2 Set the time constant up to the maximum speed for synchronous tap at gear 01.
19 stapt3 Set the time constant up to the maximum speed for synchronous tap at gear 10.
20 stapt4 Set the time constant up to the maximum speed for synchronous tap at gear 11.
3) Servo and spindle parameters.
Refer to section 4-2 and 4-3 for details.
No. Abbr. Details
SV049 PGN1sp Set the position loop gain of the axis that moves in synchronization with the spindle during synchronous
tap. Always set the same value as the spindle parameter SP009 (PGT).
SP009 PGT Set the position loop gain for the spindle during synchronous tap. Always set the same value as the
servo parameter SP049 (PGN1sp) of the axis that moves in synchronization with the spindle.
SP060 MKT2 Set the time to limit the current after coil changeover when using the coil changeover motor.
SP193 SPECT Set the synchronous tap specifications. Refer to the explanation of parameters in the previous section
for details.
SP194 VGTP Set the speed loop gain proportional item for synchronous tap.
SP195 VGTI Set the speed loop gain integral item for synchronous tap.
SP196 VGTD Set the speed loop gain delay/advance item for synchronous tap.
Caution 1) When using a belt drive, highly accurate synchronous tap may not be possible due to slipping or elongation.
In this case, use a spindle encoder and carry out encoder method orientation with the closed method.
If the belt rigidity is weak, the gain may not rise and the synchronous tap accuracy may not be attained.
Caution 2) Set the spindle parameter SP096 (EGEAR) and spindle specification parameter #22 (sgear) to "1" when using
the spindle encoder and closed method with a deceleration ratio of 1:2.
5 - 49

5. Adjustment
(2) Confirmation and adjustment of operation
Normal operation
1 Accelerate and decelerate to each gear's
maximum tap speed.
Ta
Td
Confirmation items
1) When base specification parameter mpar1-bit3=1:
Set a value obtained by multiplying Ta or Td, whichever is
longer, by 1.2-fold for each gear into the corresponding #17
(stapt1) to #20 (stapt4).
2) When base specification parameter mpar1-bit3=0:
Set a value obtained by multiplying Ta or Td, whichever is
longer, by 1.2-fold for each gear into the corresponding tap-t1.
2 Without workpiece installed
G84 Z-10 F1.0 P1000 S50
Forward tap
10-rotations
1s stop
Reverse tap
10-rotations
50r/min
3 Carry out test cutting with a floating tap chuck
installed.
4 Carry out test cutting without a floating tap
chuck.
1) If the rotation direction is the reverse tap direction, reverse the
SP193 (SPECT) bit 4 settings.
2) If the motor does not rotate ten rotations past the spindle
speed, review the gear ratio setting SP025 (GRA1) to SP032
(GRB4).
3) In all other cases, refer to the Troubleshooting section.
1) The tapper must not elongate or contract.
2) Highly accurate tapping must be possible.
3) In all other cases, refer to the Troubleshooting section.
1) Highly accurate tapping must be possible.
2) In all other cases, refer to the Troubleshooting section.
(3) Troubleshooting
Phenomenon Cause of occurrence Investigation method Remedy
Excessive error alarm
(52)
Incorrect parameter setting
Incorrect parameter setting
Check the SP193 (SPECT) detector
polarity
The tap time constant is too short.
Set the S command startup time × 1.2
or more.
Set correctly
Set correctly
Overcurrent alarm (32) Incorrect parameter setting The tap time constant is too short.
Set the S command startup time × 1.2
or more.
The spindle rotation
movement amount
does not match the
command value
The tap breaks
The tap cutting
accuracy is poor
The spindle stops
during tap cutting.
The tap accuracy drops
when the speed
increases
The accuracy drops if
synchronous tapping is
carried out immediately
after changing the coil.
Incorrect parameter setting
Incorrect parameter setting
Correct the program
Check the machine
Machine load is heavy
The position loop gain is
incorrect
The current is limited for a
set time immediately after
the coil is changed, so the
acceleration/deceleration
time increases and tracking
as set in the constants is
not possible.
Check the SP193 (STPECT) bit0
setting value.
The SP025 (GRA1) to SP032 (GRB4)
settings do not match the machine's
gear ratio.
PGNISP and SP001 are not the same
The tap time constant is short
The tap hole is shallow and the cutting
chips cannot be discharged.
The tap slips at the chuck
Check the tap depth and tap diameter
Check the tap cutting edge
Set SP193 (SPECT) bit 3 to "1".
Increase the speed loop gain SP194
(VGTP) and SP195 (VGTI) setting
values.
The tap time constant value is short,
and there is no allowance to the
output.
Try adjusting again
Change the SP060 (MKT2) value.
Set correctly
Set correctly
Set correctly
Set correctly
Increase the time
constant
Deepen the tap hole
Adjust to the correct
state
Replace with a new
part
Set
Readjust
Increase the time
constant
Readjust
Decrease the setting
value, but note that
caution is required.
Refer to the Coil
Changeover
Specifications for
details.
5 - 50

5. Adjustment
5-7-6 Z-phase (magnetic) automatic adjustment (Only when using IPM spindle motor)
Z-phase automatic adjustment is a function that automatically adjusts the relative position of the motor
magnetic pole and the PLG Z-phase pulse signal input into the spindle drive unit, and then saves and
validates the adjustment data.
This function is used to increase the output torque accuracy, and must always be carried out when the
machine is started. Execute this function with the following procedures.
CAUTION
1. The mechanical adjustments (gear - sensor gap, etc.) must already be
completed.
2. When using this function, set the spindle load inertia (max.: approx. 5-fold of
the motor inertia) and the frictional load as low as possible.
3. The motor will automatically rotate at the adjustment speed during the
Z-phase automatic adjustment. Do not touch the rotating sections, as these
are hazardous.
4. If START (ON) is executed before the adjustment is completed, alarm 16 will
occur, and the protection function will activate.
(1) Change SP205 from 0 to 1, and start forward run operation. (The power does not need to be turned
OFF and ON.)
The control output 4H bit "D" will be set to 1 until the unit power is turned ON again.
1) The spindle motor will automatically rotate at the adjustment speed (two steps for Z-phase pulse
detection and magnetic pole position detection).
2) The adjustment results will be calculated approximately 90 seconds after forward run is started
(this time will differ slightly according to the magnetic pole position). Then operation will stop
automatically.
(2) Confirm that the motor has automatically stopped. Leave parameter SP205 set to 1, turn START
OFF, and turn the power OFF and ON. (When SP205 is set to 1, the adjustment data saved in SPm
will be used.)
1) If START is turned OFF during automatic rotation, reset SP205 to 0, and turn the power OFF
and ON. Then, repeat the procedure from step (1).
2) If the drive unit or motor is replaced, if the PLG is reinstalled, or if the signals are readjusted, etc.,
always reset SP205 to 0, and turn the power OFF and ON. Then, repeat the procedure from
step (1). Failure to observe this will prevent correct operation due to invalid adjustment data.
5-7-7 PLG automatic adjustment
PLG automatic adjustment is a function that automatically adjusts the PLG A and B-phase sine wave
signals input into the SPM unit. (Adjusts the offset and gain, etc.) The adjustment data is then saved and
validated.
This function is used to improve the position data accuracy, and must always be carried out when the
machine is started up.
CAUTION
1. As a condition, the Z-phase automatic adjustment described in (1) above
must be completed.
2. The motor will automatically rotate at the adjustment speed during the PLG
automatic adjustment. Do not touch the rotating sections of the spindle motor
or spindle shaft, as these are hazardous.
(1) Change parameter (SP245) from 0 to 1, and start forward run operation.
The control output 4H bit "D" will be set to 1 from when the power is changed to when the power is
turned ON again.
1) The spindle motor will automatically rotate at the adjustment speed (two steps for offset
adjustment and gain adjustment).
2) The adjustment results will be calculated within several seconds after forward run is started.
Then operation will stop automatically.
(2) Leave parameter (SP245) set to 1, turn START OFF, and turn the drive unit OFF and ON.
1) When SP245 is set to 1, the adjustment data saved in SP will be used.
2) If SP245 is set to 0, the adjustment data will be invalidated.
When the unit h or the PLG has replaced, reset parameter (SP245) to 0, and then repeat the procedure
from (1) above to readjust the signals.
5 - 51

5. Adjustment
5-7-8 Calculating the theoretical acceleration/deceleration
(1) Calculating the theoretical acceleration/deceleration time
Each theoretical acceleration/deceleration time is calculated
for each output range based on the spindle motor output
characteristics as shown on the right. Note that the load
torque (friction torque, etc.) is 0 in this calculation expression,
so the acceleration/deceleration time can be known as a
rough guide, but this calculation result differs from the
acceleration/deceleration time of the actual machine.
(a) Maximum motor output during
acceleration/deceleration: Po
During acceleration/deceleration operation, the motor can
output at 120% of the short-time rating. Thus, the motor
output Po in the constant output range during
acceleration/deceleration follows the expression below.
Po = (Short-time rated output) × 1.2 [W]
Output [W]
Po
Constant output range
Constant
output range
Deceleration
range
Short-time rating × 1.2
0
0 N1 N2
Rotation speed [r/min]
Output characteristics for
acceleration/deceleration
N3
(b) Total load inertia: J all
The inertia of the total load which is accelerated and decelerated follows the expression below.
J all = (Motor inertia) + (motor shaft conversion load inertia) [kg•m 2 ] (Caution 1)
The acceleration/deceleration time until the rotation speed "N" to be required is calculated for
each motor output range as shown below, using the values obtained in (a) and (b).
(c) Acceleration/deceleration time for constant torque range: t1···0 to N [r/min] (0≤N≤N1)
(For N>N1, apply N=N1 and also calculate t2 or t3.)
t1 =
1.097 x 10 -2 x J all x N1 x N
Po
[s] (Caution 1)
(d) Acceleration/deceleration time for constant output range: t2···N1 to N [r/min] (N1N2, apply N=N2 and also calculate t3.)
t2 =
1.097 x 10 -2 x J all x (N 2 - N1 2 )
2 x Po
[s] (Caution 1)
(e) Acceleration/deceleration time in deceleration output range: t3···N2 to N [r/min]
(N2

5. Adjustment
[Calculation example]
Calculate the acceleration/deceleration time from 0 to
10000[r/min] for an spindle motor having the output
characteristics shown on the right when the motor inertia is
0.059 [kg・m 2 ], and when the motor shaft conversion load
inertia is 0.2 [kg•m 2 ].
Po = (Short-time rated output) x 1.2
= 5500 x 1.2 = 6600 [W]
J all = (Motor inertia) + (load inertia)
= 0.0148 + 0.05 =0.0648 [kg・m 2 ]
t1 =
1.097 x 10 -2 x J all x N1 2 1.097 x 10 -2 x 0.0648 x 1500 2
=
Po
6600
Output [kW]
8.0
6.0
5.5
4.0
3.7
2.0
0
= 0.242 [s]
15-minute
rating
Continuous
rating
0 1500 6000
4.1
2.8
10000
Rotation speed [r/min]
Spindle motor characteristics
t2 =
t3 =
1.097 x 10 -2 x J all x (N2 2 - N1 2 ) 1.097 x 10 -2 x 0.0648 x (6000 2 - 1500 2 )
=
2×Po
2×6600
1.097 x 10 -2 x J all x (N3 3 - N2 3 ) 1.097 x 10 -2 x 0.0648 x (10000 3 - 6000 3 )
=
3 x Po x N2
3 x 6600 x 6000
= 1.818 [s]
= 4.691 [s]
Thus,
t = t1 + t2 + t3 = 0.242 + 1.818 + 4.691 = 6.751 [s]
5 - 53

5. Adjustment
5-8 Spindle specifications
5-8-1 Spindle coil changeover
The coil changeover control enables constant output characteristics over a wide range from low speed
to high speed regions by changing the spindle motor coil in the following manner:
1) connection (low-speed coil) connection (high-speed coil)
2) 1st connection (low-speed coil) 2nd connection (high-speed coil). By electrically
carrying out the changeover of the speed ranges, conventionally charred out with mechanical
means such as gear, pulleys or belts, etc., the machine structure can be simplified, and the spindle
rigidity can be improved. When varying the speed between the low-speed regions and high-speed
regions using the conventional mechanical methods, the spindle motor had to be stopped, the
gears changed and then the motor accelerated again. By using this coil changeover, the motor
does not need to be stopped, and the speed can be varied directly. This is effective in shortening
the work time.
The following types of spindle motors can be used.
1) connection (low-speed coil) connection (high-speed coil) changeover method
The coil changeover specification motor (type: SJ-K◦◦◦, SJ-◦B◦◦◦◦K◦) is used with the
built-in type as the target.
2) 1st connection (low-speed coil) 2nd connection (high-speed coil)
The coil changeover specifications motor (type: SJ-◦B◦◦◦◦W◦) is used with the built-in type as
the target.
(1) Coil changeover wiring diagram
1) connection connection method
Coil changeover motor
R,S,T
~
400VAC
50/60Hz
MDS-CH-CV
MDS-CH-SP/SPH
U
V
W
MC2
U
V
W
IM
X
Y
Z
CN5
MC1
PLG
OHS1
OHS2
CN9-8
400VAC
S
T
BU
BV
FM
RA
RA
RA
CN9-10
MC2
MC1
CN1A
CN1B
To final axis
MC1
SK
MC2
SK
CN1B
MDS-CH-Vx
CN1A
NC (PC)
MC1: 3-phase contactor for establishing low-speed coil ( connection).
MC2: 3-phase contactor for establishing high-speed coil ( connection).
(Note 1) The contactors and relays, etc., shown above must be prepared by the machine maker.
(Note 2) A flywheel diode is connected to relay (RA), and a CR surge absorber (SK) is connected in parallel with the contactors
(MC1, CM2).
(Note 3) When using the built-in motor, the fan's BU and BV wirings are not required.
When using the complete type motor, BU, BV and BW must be connected when using the 3-phase wire. Connect BU, BV
and BW to the R, S and T phases.
5 - 54

5. Adjustment
2) 1st connection 2nd connection method
Coil changeover motor
~
400VAC
50/60Hz
R,S,T
MDS-CH-CV
MDS-CH-SP/SPH
U
V
W
MC1
U1
V1
W1
IM
MC2
U2
V2
W2
CN5
OHS1
OHS2
PLG
CN9-8
400VAC
S
T
RA
RA
RA
CN9-10
MC2
MC1
CN1A
CN1B
To final axis
MC1
SK
MC2
SK
CN1B
MDS-CH-Vx
CN1A
NC (PC)
MC1: 3-phase contactor for establishing low-speed coil (1st
MC2: 3-phase contactor for establishing high-speed coil (2nd
connection).
connection).
(Note 1) The contactors and relays, etc., shown above must be prepared by the machine maker.
(Note 2) A flywheel diode is connected to relay (RA), and a CR surge absorber (SK) is connected in parallel with the contactors
(MC1, CM2).
(Note 3) When using the built-in motor, the fan's BU and BV wirings are not required.
When using the complete type motor, BU, BV and BW must be connected when using the 3-phase wire. Connect BU, BV
and BW to the R, S and T phases.
(2) Control signals
1) Input/output signals
NC
MDS-CH-SP / SPH
• L coil selection command signal
(LCS = control input 3-bit D)
• L coil selected signal
(LCSA = control output 3-bit D)
• Coil changed signal
(MKC = control output 4-bit 6)
CN9-8
RA
Contactor
changeover
signal
CN9-1
5 - 55

5. Adjustment
Input signal
Output signal
L coil selected signal Contactor changeover signal
Selected coil
0 (OFF) 0 (OFF = relay open) High-speed coil
1 (ON) 1 (ON = relay closed) Low-speed coil
Note 1) The default coil when the spindle amplifier power is turned ON is the high-speed coil.
Control input signal
Signal name Signal address Explanation of function
L coil selection
command signal
(LCS)
Control input 3 -bitD
(LCS)
PLC device
Y◦◦◦
• This changeover command signal selects the high-speed
coil or low-speed coil.
1 ON : Select low-speed coil
0 OFF : Select high-speed coil
• The coil can be changed while the motor is rotating, but if
position control such as orientation, spindle/C-axis control,
synchronous tap or spindle synchronization is being carried
out, the coil will not change even if this L coil selection signal
is input. Position control will be executed with the coil
selected when position control was started. (Refer to section
6-1-4.)
• Once the L coil selection signal is input, the base will remain
cut off until the coil changeover operation is completed.
Control output signal
Open emitter output
L coil selected
signal (LCSA)
Coil selected signal
(MKC)
Contactor
changeover signal
(WCO)
Control output 3 -bitD
(LCSA)
PLC device
X◦◦◦
Control output 4 -bit6
(MKC)
PLC device
X◦◦◦
• This is the answer signal in respect to the input signal LCS
above. It can be confirmed whether the spindle amplifier has
received the LCS signal.
• This signal turns ON while the base is cut off for changeover
when changing from the high-speed coil to the low-speed
coil and vice versa. This signal is OFF in all other cases.
• No other input commands are accepted while this signal is
ON. Change the input signal while this signal is OFF.
– • This is the relay drive's open emitter output for changing the
high-speed coil and low-speed coil.
ON 24V output : Low-speed coil is selected
OFF 0V output : High-speed coil is selected
• Refer to section 3-1, and wire the relay and contactor so that
the low-speed coil is selected at the 24V output and the
high-speed coil is selected at the 0V output.
• The contactor's ON/OFF state is changed when the L coil
selection command is input and the base is cut off.
Note) Refer to the PLC Interface Manual for the NC in use for details on the numbers of the above PLC devices.
Note that the coil changed signal cannot be viewed with some NC units.
5 - 56

5. Adjustment
2) Coil changeover operation
ON
NC→SP/SPH
L coil selection command signal
(LCS)
OFF
OFF
ON
SP/SPH→NC
L coil selected signal (LCSA)
OFF
OFF
ON
SP/SPH
Contactor changeover signal (WCO)
OFF
OFF
ON
ON
SP/SPH
Base cutoff holed
OFF
OFF
OFF
ON
ON
SP/SPH→NC
Coil selected signal (MKC)
OFF
OFF
OFF
ON
NC→SP/SPH
Forward run (SRN), reverse run (SRI)
signal
OFF
ON
ON
SP/SPH
Base ON
OFF
OFF
SP/SPH
Motor constants changeover
(parameter)
High-speed
coil
Low-speed
coil
High-speed
coil
SP/SPH
Output current waveform (approx.)
T1
T1
T1: Base cutoff hold time (SP059: MKT setting value Unit: ms)
Precautions
1) The spindle will accept none of the input signals (forward run command, reverse run command, orientation
command, servo ON signal with position loop) during T1 (base cutoff interval) shown above. Input the signals to
the spindle controller after changing the L coil selected signal (LCS) and establishing a timer of T M (= T1 + 50ms)
or more as shown below. Instead of using a timer, the signal can be input after the coil changed signal (MKC)
changes from the ON to OFF state. Note that the coil changed signal cannot be viewed with some NC units.
2) The base cutoff time T1 is determined with the parameter SP059 (MKT) setting value. However, due to the relation
with the contactor operation, the standard value is 150ms. Normally set T M to 200ms or more.
Using a timer
L coil selection command
signal (LCS)
Coil changeover timer
Each input signal
TM
TM ≥ 200ms
5 - 57

5. Adjustment
3) Changing the coil in the spindle mode
When the motor's output characteristics listed on the Mitsubishi motor rating table are as
follows, N2 is the coil changeover speed, and the following expression is established.
0 ≤ N ≤ N2 is the low-speed coil usage range
N2 < N is the high-speed coil usage range
The method for inputting the L coil selection signal (LCS) to change from the low-speed coil
range N1 to the high-speed coil range speed N3 is explained in this section.
Output
0
Speed N
N1 N2 N3
Changeover
speed
Low-speed coil range
High-speed coil
range
Stopping the spindle motor and changing the coil
With this method, the high-speed coil and low-speed coils are viewed as electronic gears that are
handled in the same manner as the mechanical gears.
Speed command
N3
Motor rotation speed
N1
0
N3
0
N1
Start signal (SRN or SRI)
ON ON ON
OFF
OFF
Zero speed output signal
(ZS)
OFF
ON
OFF
ON
OFF
Note
ON
Note
L coil selection command
signal (LCS)
OFF
OFF
ON
Contactor changeover
signal (WCO)
OFF
High-speed coil selection
Low-speed coil selection
OFF
High-speed coil selection
5 - 58

5. Adjustment
If the speed command changes to N1 while the motor is rotating at N3 (high-speed coil range), the
motor is stopped once by the user's sequence. After confirming that the zero speed output signal
(ZS) has turned ON, the L coil selection command signal (LCS) is turned ON. After changing from
the low-speed coil to the high-speed coil, the start signal (SRN or SRI) is turned ON again, and the
motor is accelerated to N1.
In the same manner, when changing the speed command from N1 to N3, the motor is stopped once.
After confirming that the zero speed output signal (ZS) has turned ON, the L coil selection
command signal is turned OFF. After changing from the high-speed coil to the low-speed coil, the
start signal is turned ON, and the motor is rotated at the N3 speed.
Note 1) Provide a time longer than T M after the L coil selection command signal (LCS) is input to
when the start signal turns ON. Instead of using a timer, set the sequence so that the start
signal turns ON after the coil changed signal (MKC) changes from ON to OF. Note that
the coil changed signal cannot be viewed with some NC units.
Changing the coil during spindle motor rotation
This method uses the characteristics of coil changeover to change the coil during motor rotation,
and changing directly from the low-speed coil to the high-speed coil. The transition time is shorter
compared to the method explained in 6-1-3(1). The speed detection signal (SD) is used with this
method, and the L coil selection command signal (LCS) is input in the following manner.
To accelerate from a stopped state (To accelerate after zero speed output signal turns ON)
(i) First, judge the high-speed/low-speed coil range with the speed command, and select the coil.
(Input the L coil selection command signal (LCS.)
(ii) Next, turn the start signal ON and accelerate the motor.
(iii) Hold the L coil selection command signal (LCS) in the state of (i).
When varying the speed, turn the L coil selection command signal (LCS) ON and OFF as shown in the
following table.
Current coil
When low-speed coil is selected When high-speed coil is selected
state
Next speed
command
Low-speed coil
range
High-speed coil
range
Low-speed coil
range
High-speed coil
range
Does not change
(LCS: ON)
Judge state of SD
signal
1) SD: ON
→LCS: ON
2) SD: OFF
→LCS: OFF
Judge state of SD
signal
1) SD: ON
→LCS: ON
2) SD: OFF
→LCS: OFF
Does not change
(LCS: OFF)
Operation
mode
2) - A 2) - B 2) - C 2) - D
Note 1) The conditions in item 1) are applied to prevent the contactor from turning ON/OFF
needlessly during acceleration/deceleration.
Since the speed detection signal (SD) has a hysteresis, the conditions in item 2) apply to
prevent the contactor from turning ON/OFF needlessly (inconsistently) when operating
near the coil change speed and continuously varying the speed.
5 - 59

5. Adjustment
(Reference) The generation of the signals in item 1) and 2) are shown in the following flow chart.
START
ZS:ON ?
NO
YES
LCS:ON ?
NO (High-speed coil selected)
Speed command
≤ N2?
NO
YES
(Low-speed coil selected)
Speed command
≤ N2?
NO (High-speed coil
range command)
LCS=ON
YES
LCS=OFF
YES
(Low-speed coil
range command)
Speed command
≤ N2?
NO (High-speed coil
range command)
Check TM timer or
coil changed signal
SD:ON ?
NO
(High-speed
coil range)
SD:ON ?
NO
(High-speed
coil range)
SRN/SRI:ON
YES
(Low-speed
coil range
command)
YES
(Low-speed
coil range)
LCS=OFF
YES
(Low-speed
coil range)
LCS=ON
Was speed
command changed?
NO
YES
1)
2) –A 2) –B 2) –C 2) –D
5 - 60

5. Adjustment
N3
N3
Speed command
t3
N1
N3
t6
N3
N2
N1
Motor rotation speed
t4
t5
t7
t8
ON
Start signal
(SRN or SRI)
Speed detection signal
(SD)
ON
t2
ON
t9
ON
t10
Zero speed signal
(ZS)
ON
ON
L coil selection
command signal (LCS)
ON
Note
ON
Contactor changeover
signal (WCO)
ON
t1
ON
High-speed coil selection
Low-speed coil selection
High-speed coil selection
1. When the speed command reaches N3 (high-speed coil range) at t1, the system confirms that the zero
speed signal (ZS) is ON, and then turns the L coil selection command signal (LCS) OFF (high-speed coil
selection). The start signal (SRN or SRI) is turned ON at t2, and the motor accelerates.
2. Next when the speed command is changed to N1 (low-speed coil range) at t3, the motor starts decelerating
toward N1. However, when it reaches the coil changeover speed N2 at t4, the speed detection signal (SD)
changes from OFF to ON. The system confirms that this speed detection signal (SD) has turned ON, and
then changes the L coil selection command signal (LCS) from OFF (High-speed coil selection) to ON
(low-speed coil selection). This changes the coil, and when completed (t5), the motor continues to decelerate
to N1.
3. When the speed command is changed to N3 (high-speed coil range) at t6, the motor starts to decelerate
toward N3. However, when changeover speed N2 is reached at t4, the speed detection signal (SD) changes
from ON to OFF.
The system confirms that this speed detection signal (SD) is OFF, and then changes the L coil selection
command signal (LCS) from ON (low-speed coil selection) to OFF (high-speed coil selection). The coil
changeover is executed with this, and when completed (t6), the motor continues to accelerate to N3.
4. When the start signal (SRN or SRI) turns OFF at t9, the motor decelerates to a stop. The speed detection
signal will change from OFF to ON at t10, but this applies when stopping. Since the speed command does
not change, there is no need to change the L coil selection command signal (LCS), and the motor will
continue to decelerate to a stop with the high-speed coil.
Note 1)
Note 2)
The speed detection signal (SD) detection level is set with the parameters.
Turn the start signal ON after T M or longer has elapsed from the input of the L coil selection command
signal (LCS) or after the coil changed signal has changed from ON to OFF. Note that viewing of the
coil changed signal depends on the NC Series specifications.
5 - 61

5. Adjustment
Changing the coil in the spindle mode ⇔ position control mode
The position control mode refers to controlling the position loop for orientation control,
spindle/C-axis control, synchronous tap control or spindle synchronous control. (Note that when
using SPA, only orientation control is the position control mode.)
The following caution is required when inputting the L coil selection command signal (LCS) in the
position control mode.
Precaution
The L coil selection command signal (LCS) will not be accepted if input
after the position loop control has started.
• State with orientation command (ORC) ON.... For orientation control
• State with servo ON signal ON ....................... Spindle/C-axis control, synchronous tap
control, spindle synchronous control, etc.
In other words, position control will be executed with the coil state active when the position loop
control was started. Conversely, when the position loop control is canceled, the L coil selection
signal (LCS) input will be valid. If the coil state during position loop control execution and the L coil
selection signal (LCS) input after the position loop is canceled differ, the coil may be changed
unintentionally when the position loop control is canceled. Thus, before starting position loop
control, select the required coil beforehand (input the LCS signal). Then, start position loop
control, and hold the L coil selection signal (LCS).
Servo ON signal
ON
L coil selection
command signal
(LCS)
Contactor changeover
signal (WCO)
t1 t2 t3
ON
ON
[Coil is not changed]
[Coil is changed even if LCS does not change.]
Each input signal must be input after the T M or longer time has elapsed from the input of the L coil
selection signal (LCS) and the coil selected signal (MKC) has changed from ON to OFF. Note that
the coil changed signal cannot be viewed with some NC units.
(1) Orientation control
1) If the orientation command (ORC) is turned ON during spindle operation, orientation will be
completed with the currently selected coil. (Same as conventional mechanical gears.)
2) If orientation is to be carried out with the low-speed coil even when operating with the
high-speed coil as a means to increase the servo rigidity during orientation, use the following
procedure to orient with the low-speed coil without stopping the motor once from the
high-speed coil state.
(i) First turn the start signal (SRN or SRI) OFF and decelerate the motor.
(ii) Using the speed detection signal (SD), change the L coil selection command signal
(LCS) from the high-speed coil to the low-speed coil.
(iii) After the T M or longer timing, or after the coil selected signal turns ON and OFF using
SPA, the orientation command (ORC) turns ON.
5 - 62

5. Adjustment
Changing to the low-speed coil and orienting during operation with high-speed coil
Motor rotation speed
ON
Orientation command
(ex., M19)
Start signal (SRN or SRI)
ON
Speed detection signal
(SD)
ON
L coil selection
command signal (LCS)
ON
Orientation command
signal (ORC)
TM
ON
Orientation complete signal
(ORFIN)
ON
2) Spindle/C-axis control
When changing from the spindle mode to the C-axis mode, following the procedures in section
3-2, and change to the low-speed coil. Then, input the servo ON signal. If the servo ON signal
is input in the high-speed coil state, C-axis control will be executed with the high-speed coil.
The C-axis servo torque will be small, and the required C-axis servo torque will not be attained.
If the L coil selection command signal (LCS) is not held when the C-axis mode is canceled, the
coil may be changed needlessly.
3) Synchronous tap control
The coil used must be fixed according to the target speed for synchronous tapping. If the state
of the coil before synchronous tapping is started and the coil to be used for synchronous
tapping differ, stop the spindle once, and change to the coil to be used for synchronous tapping
before turning the synchronous tap servo ON signal.
4) Spindle synchronous control
Use the same procedures as for synchronous tap control.
Note)
After coil changeover is completed, the current will be limited for the amount of time
(Standard setting value 500ms) set in SP060. Thus, the output normally required will not
be attained. This may result in faults such as a faulty accuracy or spindle overshooting in
the position loop. Therefore, to carry out position loop operation after changing the coil,
input the position command after the time set in SP060 has passed.
5 - 63

5. Adjustment
(3) Explanation of parameters for coil changeover function
Only the parameters related to the coil changeover specifications are explained in this section.
Name Abbr. Details TYP
SP034 SFNC2 Spindle function 2
F E D C B A 9 8 7 6 5 4 3 2 1 0
mkch mtsl
HEX
bit Abbr. Details Set 0 Set 1 Supplement
0 mtsl Motor constant Standard Special
1 mkch Coil changeover motor Not used Used
Set both Bit0 and 1 to "1".
SP035 SFNC3 Spindle function 3
F E D C B A 9 8 7 6 5 4 3 2 1 0
lbsd hbsd lwid hwid
HEX
bit Abbr. Details Set 0 Set 1 Supplement
0 hwid
High-speed coil wide range constant
output
Invalid
Valid
1 lwid Low-coil wide range constant output Invalid Valid
2 hbsd High-speed coil base sliding Invalid Valid
3 lbsd Low-speed coil base sliding Invalid Valid
SP020 SDTS Speed detection set value
This parameter determines the changeover speed for inputting the L coil selection command input (LCS)
using the speed detection signal (SD).
The relation of the setting value and speed detection output is as shown in SP047 on the next page.
Standard setting value : Follows motor rating table
Setting range : 0 to 32767 (r/min)
DEC
Note) If the coil is changed without turning the NC power OFF after the parameters are changed, the changed parameters will not
be validated. Validate the parameters by turning the NC power OFF once after changing the settings, and then change the
coil.
5 - 64

5. Adjustment
Name Abbr. Details TYP
SP047 SDTR Speed detection reset value
Determine the hysteresis value for the speed detection signal (SD).
The relation of the setting value and speed detection output is as shown below.
DEC
Motor rotation
speed
SP020(SDTS)
SP047(SDTR)
Speed detection
signal (SD)
ON
OFF
ON
Standard setting value : 300 (Lathe application)
150 (Machining application)
Setting range : 0 to 1000 (r/min)
SP059 MKT Coil changeover base cutoff time timer
Set the base cutoff time for changing the contactor during coil changeover.
If the setting value is small, the power will be turned ON before the contactor is changed, and may result
in contactor burning. Do not change this setting unless there is a particular problem.
Standard setting value : 150
Setting range : 0 to 1000 (ms)
SP060 MKT2 Coil changeover current limit timer
Set the time to limit the current value after the base is cut off and then turned ON during coil changeover.
When the position command is input immediately after the coil is changed during synchronous tapping,
the cutting accuracy may deteriorate if this value is not small enough. When decreasing the value, make
sure that the coil is changed after the motor stops even in the modes other than synchronous tap.
Standard setting value : 500
Setting range : 0 to 1000 (ms)
SP061 MKIL Coil changeover current limit value
Set the current limit value for limiting the current value for the time set in SP060 when the base is cut off
and then turned ON during coil changeover.
Standard setting value : 75
Setting range : 0 to 120 (%)
DEC
DEC
DEC
SP0257
to
SP320
RPM to
BDS
H coil motor constants
Set the motor constants for the high-speed coil selection.
HEX
SP0321
to
SP384
RPML to
BDSL
L coil motor constants
Set the motor constants for the low-speed coil selection.
HEX
5 - 65

5. Adjustment
(4) Coil changeover contactor (magnetic contact)
1) Selection
The coil changeover contactor is selected according to the applicable spindle drive unit's
capacity as shown below.
Use a contactor with an operation coil voltage that matches the power specifications in use.
Refer to section "7-2-3 Selecting the contactor" for details on the contactor specifications.
Spindle drive unit type
MDS-CH-SP/SPH-55
MDS-CH-SP/SPH-75
MDS-CH-SP/SPH-110
MDS-CH-SP/SPH-150
MDS-CH-SP/SPH-185
MDS-CH-SP/SPH-220
MDS-CH-SP/SPH-260
MDS-CH-SP/SPH-300
MDS-CH-SP/SPH-370
MDS-CH-SP/SPH-450
MDS-CH-SP/SPH-550
MDS-CH-SP/SPH-750
Applicable contactor type
S-N10
S-N10
S-N20
S-N25
S-N25
S-N25
S-N35
S-N50
S-N65
S-N80
S-N80
S-N150
5 - 66

6. Dedicated Options
6-1 Dynamic brake unit ............................................................................................................................ 6-2
6-1-1 Combination with servo drive unit ............................................................................................... 6-2
6-1-2 Outline dimension drawings of dynamic brake unit..................................................................... 6-3
6-2 Battery option ..................................................................................................................................... 6-4
6-2-1 Battery unit .................................................................................................................................. 6-4
6-2-2 Connection .................................................................................................................................. 6-8
6-2-3 Dedicated battery cable drawing................................................................................................. 6-8
6-3 Cables and connectors ...................................................................................................................... 6-9
6-3-1 Cable option list......................................................................................................................... 6-10
6-3-2 Connector outline dimension drawings ..................................................................................... 6-14
6-3-3 Flexible conduits........................................................................................................................ 6-21
6-3-4 Cable wire and assembly .......................................................................................................... 6-23
6-3-5 Option cable connection diagram.............................................................................................. 6-25
6-3-6 Main circuit cable connection drawing ...................................................................................... 6-28
6-4 Scale I/F unit .................................................................................................................................... 6-29
6-4-1 Outline ....................................................................................................................................... 6-29
6-4-2 Model configuration ................................................................................................................... 6-29
6-4-3 List of specifications .................................................................................................................. 6-29
6-4-4 Unit outline dimension drawing ................................................................................................. 6-30
6-4-5 Description of connector............................................................................................................ 6-30
6-4-6 Example of detector conversion unit connection ...................................................................... 6-31
6-4-7 Cables ....................................................................................................................................... 6-32
6-5 Magnetic pole detection unit ............................................................................................................ 6-36
6-5-1 Outline ....................................................................................................................................... 6-36
6-5-2 Model configuration ................................................................................................................... 6-36
6-5-3 List of specifications .................................................................................................................. 6-36
6-5-4 Outline dimensions.................................................................................................................... 6-36
6-5-5 Assignment of connector pins ................................................................................................... 6-37
6-5-6 Installing onto the linear servomotor ......................................................................................... 6-37
6-6 Detectors .......................................................................................................................................... 6-38
6-6-1 List of detector specifications .................................................................................................... 6-38
6-6-2 Outline dimension drawings ...................................................................................................... 6-39
6-6-3 Cable connection diagram ........................................................................................................ 6-41
6-6-4 Maintenance.............................................................................................................................. 6-42
6-7 Spindle option specification parts .................................................................................................... 6-43
6-7-1 Magnetic sensor orientation (one-point orientation).................................................................. 6-44
6-7-2 Multi-point orientation using encoder (4096-point orientation).................................................. 6-48
6-7-3 Multi-point orientation using motor built-in encoder (4096-point orientation)............................ 6-51
6-7-4 Contour control (C axis control) encoder .................................................................................. 6-53
6-7-5 Integrated rotary encoder (Special order part).......................................................................... 6-56
6-8 AC reactor ........................................................................................................................................ 6-57
6-8-1 Combination with power supply unit.......................................................................................... 6-57
6-8-2 Outline dimension drawings ...................................................................................................... 6-57
6 - 1

6. Dedicated Options
WARNING
CAUTION
Always wait at least 15 minutes after turning the power OFF, confirm that the
CHARGE lamp has turned OFF, and check the voltage with a tester, etc., before
connecting the option or peripheral device. Failure to observe this could lead to
electric shocks.
1. Use the designated peripheral device and options. Failure to observe this
could lead to faults or fires.
2. Pay attention to the installation environment so that cutting chips or oil, etc.,
do not come in contact with the dynamic brake unit. There is a risk of
short-circuit accidents at the resistor terminal block, or the burning of oil
adhered on the resistor. These can lead to fires.
The ordered dedicated options are explained in this section.
(Note that parts indicated as non-ordered parts are excluded.)
6-1 Dynamic brake unit
6-1-1 Combination with servo drive unit
The 11kW and larger servo drive unit does not have built-in dynamic brakes. Always install a dynamic
brake unit.
The 9kW and smaller servo drive unit has built-in dynamic brakes.
Brake connector
1-178128-3
Tyco Electronics
Pin
1
2
3
Name
24VDC
DBU
MBR
CN20
External
power supply
24VDC GND
CN20 cable
1
2
3
Twist wire
Motor with a brake
Control terminal
block
Terminal: M3
Pin
1
2
3
4
5
6
Name
NC
a
b
13
14
U V W
a
b
Dynamic brake unit
(MDS-B-DBU-150)
Servomotor
Drive terminal
block
Terminal: M3
Pin
1
2
3
Name
U
V
W
CAUTION
POINT
Correct wire the dynamic brake unit to the servo drive unit.
Do not use for applications other than emergencies (normal braking, etc.). The
internal resistor could heat up, and lead to fires or faults.
When you use a servomotor with a brake, please wire (between 1 and 3) of
CN20 connector.
6 - 2

6. Dedicated Options
6-1-2 Outline dimension drawings of dynamic brake unit
20
[Unit: mm]
200
190
MITSUBISHI
Type: MDS-B-DBU-150
180 10
FG a b 13 14
U V W
5
5
5
200
20
20
140
Model Corresponding unit Weight (kg)
MDS-B-DBU-150
MDS-CH-V1-110
MDS-CH-V1-150
MDS-CH-V1-185
Inside wiring
2
R (0.2Ω)
V
W
U
14
13
MC
SK
b
a
6 - 3

6. Dedicated Options
6-2 Battery option
6-2-1 Battery unit
This battery option may be required to establish absolute position system. Select a battery option from
the table below depending on the servo system.
Type MDS-A-BT-□□ FCU6-BTBOX-36
Installation type Unit and battery integration type Unit and battery integration type
Hazard class Class9 (excluding MDS-A-BT-2) Not applicable
Number of
connectable axes
2 to 8 axes Up to 6 axes
Battery change Not possible Possible
Appearance (1) (2)
6 - 4

6. Dedicated Options
(1) Battery unit (MDS-A-BT-□)
< Specifications >
Battery option type
Lithium battery series
Battery unit
MDS-A-BT-2 MDS-A-BT-4 MDS-A-BT-6 MDS-A-BT-8
ER6V
Nominal voltage 3.6V
Nominal capacity 4000mAh 8000mAh 12000mAh 16000mAh
Battery Hazard class Class 9
safety Battery shape Set battery
Number of batteries
used
ER6V x 2 ER6V x 4 ER6V x 6 ER6V x 8
Lithium alloy content 1.3g 2.6g 3.9g 5.2g
Mercury content
1g or less
Number of connectable axes Up to 2 axes Up to 4 axes Up to 6 axes Up to 8 axes
Battery continuous backup time
Approx. 30000 hours
Battery useful life (From date of
unit manufacture)
7 years
Data save time in battery
replacement
HC-H series: approx. 20 hours at time of delivery, approx. 10 hours after 5 years
Back up time from battery
warning to alarm occurrence
Approx. 100 hours
(Note)
Weight
600g
(Note) This time is a guideline, so does not guarantee the back up time. Replace the battery with a new battery as soon as a battery
warning occurs.
< Outline dimension drawings >
• MDS-A-BT-2/-4/-6/-8
15
Use an M5 screw for the ø6 mounting hole
160
145
135
52
17
R3
6
100
30
[Unit: mm]
6 - 5

6. Dedicated Options
(2) Battery unit ( FCU6-BTBOX-36 )
< Specifications >
Battery option type
Lithium battery series
Nominal voltage
Nominal capacity
Battery unit
FCU6-BTBOX-36(Note1)
2CR5
6.0V (Lithium battery), 3.6V (Output)
2600mAh
Battery Hazard class -
safety Battery shape Single battery
Number of
batteries used
2CR5×2
Lithium alloy
content
1.96g
Mercury content
1g or less
Number of connectable axes
Up to 6 axes
Battery continuous backup time
Approx. 5000 hours (when 6 axes are connected)
Battery useful life
(From date of unit manufacture)
5 years Note2
Data save time in battery
replacement
HC-H series: approx. 20 hours at time of delivery, approx. 10 hours after 5 years
Back up time from battery
warning to alarm occurrence
Approx. 30 hours (when 6 axes are connected)
(Note3)
Weight
(Note1) A lithium battery in FCU6-BTBOX-36 is commercially available. The battery for replacement has to be prepared by the user.
(Note2) Use new batteries (nominal capacity 1300mAh or more) within five years from the date of manufacture. The batteries should
be replaced once a year.
(Note3) This time is a guideline, so does not guarantee the back up time. Replace the battery with a new battery as soon as a battery
warning occurs.
200g
< Outline dimension drawings >
• FCU6-BTBOX-36
75
4
12.5
57.5
Plus (+) terminal
Minus (-) terminal
65 75
50
50
Square
hole
2CR5
2CR5
Packing area
Panel cut drawing
2-M4 screw
[Unit: mm]
6 - 6

6. Dedicated Options
CAUTION
1. On January 1, 2003, new United Nations requirements, "United Nations
Dangerous Goods Regulations Article 12", became effective regarding the
transportation of lithium batteries. The lithium batteries are classified as
hazardous materials (Class 9) depending on the unit. (Refer to Appendix 4.)
2. The lithium battery must be transported according to the rules set forth by the
International Civil Aviation Organization (ICAO), International Air
Transportation Association (IATA), International Maritime Organization
(IMO), and United States Department of Transportation (DOT), etc. The
packaging methods, correct transportation methods, and special regulations
are specified according to the quantity of lithium alloys. The battery unit
exported from Mitsubishi is packaged in a container (UN approved part)
satisfying the standards set forth in this UN Advisory.
3. To protect the absolute value, do not shut off the servo drive unit control
power supply if the battery voltage becomes low (warning 9F).
4. Contact the Service Center when replacing the MDS-A-BT Series and cell
battery.
5. Replace the FCU6-BTBOX-36 battery with a new battery (2CR5) within the
recommended service period. This battery is commercially available for use
in cameras, etc.
6. The battery life (backup time) is greatly affected by the working ambient
temperature. The above data is the theoretical value for when the battery is
used 8 hours a day/240 days a year at an ambient temperature of 25°C.
Generally, if the ambient temperature increases, the backup time and useful
life will both decrease.
6 - 7

6. Dedicated Options
6-2-2 Connection
A terminal connector is built-in, so set as the final connection of the NC and communication cable.
MDS-CH-V1
MDS-CH-SP
NC
SH21 cable
SH21 cable
SH21 cable
Select one
Battery unit
MDS-A-BT-2
MDS-A-BT-4
MDS-A-BT-6
MDS-A-BT-8
BTBOX cable
Battery unit
FCU6-BTBOX
6-2-3 Dedicated battery cable drawing
Refer to the following cable drawing, and manufacture the cable connected to the FCU6-BTBAT.
Cable type: BTBOX cable
Application: Battery cable for detector backup
CN1A
BTBOX side
CN1A
Shell
10320-52F0-008 *Sumitomo 3M
Plug
10120-3000VE *Sumitomo 3M
BT 9
GND 1
GND 11
GND 5
GND 15
RD 2
RD* 12
SD 4
SD* 14
AL 3
EMG 7
AL* 13
EMG* 17
FG
150Ω/0.25W
150Ω/0.25W
Enlarged
view
5mm
Peel the wire 5mm
6 - 8

6. Dedicated Options
6-3 Cables and connectors
The cables and connectors that can be ordered from Mitsubishi Electric Corp. as option parts are shown
below. Cables can only be ordered in the designated lengths shown on the following pages. Purchase a
connector set, etc., to create special length cables.
MDS-CH-V1/V2/SP
MDS-CH-V1/V2/SP
NC
NC communication
cable connector set
Terminal
connector
Battery unit
HC-H Series
Power connector
Brake connector
Detector cable
connector set
SJ Series
(Spindle motor)
Detector cable
connector set
6 - 9

6. Dedicated Options
6-3-1 Cable option list
(1) Cables
For
CN1A,
CN1B
Item Model Contents
Communication cable
for
CNC - Drive unit
Drive unit - Drive unit
SH21
Length:
0.35, 0.5, 0.7, 1, 1.5, 2, 2.5, 3,
3.5, 4, 4.5, 5, 6, 7, 8, 9, 10, 15,
20, 30m
Servo drive unit side
connector (3M)
Connector : 10120-6000EL
Shell kit : 10320-3210-000
Servo drive unit side
connector (3M)
Connector : 10120-6000EL
Shell kit : 10320-3210-000
FCUA-R000 and
MR-J2HBUS[ ]M can also be
used.
Terminal connector A-TM
FCUA-A-TM can also be used.
Terminal connector
For
CN2
Detector cable for
HC-H [ ]-A51/E51,
HC-H [ ]-A42/E42
CNV12-0- -
Drive unit side connector
Blank: One-touch lock
S: Screw lock
Environment
Blank: For general
environment
P: IP65 compatible
Detector side connector
2: Straight cannon
3: Angle cannon
Servo drive unit side
connector (3M)
• Detector connector straight
specification
Connector : 10120-3000VE
Shell kit : 10320-52F0-008
(One-touch type lock)
Shell kit: 10320-52A0-008
(Screw-type lock)
Servomotor detector side
connector (DDK)
For general environment
Straight connector :
MS3106B22-14S
Clamp: MS3057-12A
IP65 compatible
Connector :
MS3106A22-14S (D190)
Straight back shell:
CE02-22BS-S
Clamp: CE3057-12A-3
Length:
1.5, 2, 2.5, 3, 3.5, 4, 4.5, 5, 6, 7,
8, 9, 10, 11, 12, 13, 14, 15, 20,
30m
FCUA-R080 (straight cannon)
and FCUA-R084 (angle
cannon) can also be used.
• Detector connector angle
specification
Connector : 10120-3000VE
Shell kit : 10320-52F0-008
(One-touch type lock)
Shell kit; 10320-52A0-008
(Screw-type lock)
For general environment
Angle connector :
MS3108B22-14S
Clamp: MS3057-12A
IP65 compatible
Connector :
MS3106A22-14S (D190)
Angle back shell:
CE-22BA-S
Clamp: CE3057-12A-3
(Note) The connector maker may change without notice.
6 - 10

6. Dedicated Options
For
CN5
Item Model Contents
PLG detector cable
for SJ spindle
CNP5S -
Connector type
2: Connector
E: Crimped terminal
Length:
1.5, 2, 2.5, 3, 3.5, 4, 4.5, 5, 6, 7, 8,
9, 10, 11, 12, 13, 14, 15, 20, 30m
Spindle drive unit side
connector (3M)
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
Spindle motor side connector
For 2-type (Tyco Electronics)
Housing: 178289-6
Pin: 1-175217-2
For E-type (J.S.T.)
Crimped terminal: V1.25-4
2-type
E-type
For
CN6
For SJ spindle
Magnetic sensor
orientation cable
Encoder orientation
cable
CNP6 -
Connector type
2: Connector
E: Crimped terminal
Type
A: Encoder
M: Magnetic sensor
Spindle drive unit side
connector (3M)
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
Spindle motor side connector
For M-2- type (Tajimi Musen)
Connector:
TRC116-12A10-7F10.5
For A-2-type (DDK)
Connector: MS3106B20-29S
For E-type (J.S.T.)
Crimped terminal: V1.25-4
Length:
1.5, 2, 2.5, 3, 3.5, 4, 4.5, 5, 6, 7, 8,
9, 10, 11, 12, 13, 14, 15, 20, 30m
2-type
E-type
For
CN7
C-axis control cable
for SJ spindle
CNP7 A -
Connector type
2: Connector (Straight)
3: Connector (Right angle)
E: Crimped terminal
Spindle drive unit side
connector (3M)
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
Spindle motor side connector
For A-2-type (DDK)
Connector: MS3106B20-29S
For A-3-type (DDK)
Connector: MS3108B20-29S
Clamp: MS3057-12A
Type
A: OSE90K + 1024
For E-type (J.S.T)
Crimped terminal: V1.25-4
Other connections
Black: None
1: Connect with NC
6: Connect with CN6
2-type
Length:
1.5, 2, 2.5, 3, 3.5, 4, 4.5, 5, 6, 7, 8,
9, 10, 11, 12, 13, 14, 15, 20, 30m
3-type
E-type
(Note) The connector maker may change without notice.
6 - 11

6. Dedicated Options
For
CN1A,
CN1B
(2) Connector sets
Item Model Contents
FCUA-CS000 Servo drive unit side
connector (3M)
Connector : 10120-3000VE
Shell kit : 10320-52F0-008
Communication connector set for
CNC - Drive unit
Drive unit - Drive unit
Servo drive unit side
connector (3M)
Connector : 10120-3000VE
Shell kit : 10320-52F0-008
For
CN2
Detector cable
connector set for
HC-H[_]-A51/A42
HC-H[_]-E51/E42
IP65 and
EN
standard
compatible
Straight
ENCP22-14S3
Compliant cable
range
ø6.8 to ø10
(when using
A14B2343)
Refer to section
"6-4-4".
Servo drive unit side
connector (3M)
Connector : 10120-3000VE
Shell kit : 10320-52F0-008
Servomotor detector side
connector (DDK)
Connector :
MS3106A22-14S (D190)
Straight back shell:
CE02-22BS-S
Clamp: CE3057-12A-3
ENCP22-14S2
Compliant cable
range
ø9.5 to ø13
Servo drive unit side
connector (3M)
Connector : 10120-3000VE
Shell kit : 10320-52F0-008
Servomotor detector side
connector (DDK)
Connector :
MS3106A22-14S (D190)
Straight back shell:
CE02-22BS-S
Clamp: CE3057-12A-2
Angle
ENCP22-14L3
Compliant cable
range
ø6.8 to ø10
(when using
A14B2343)
Refer to section
"6-4-4".
Servo drive unit side
connector (3M)
Connector : 10120-3000VE
Shell kit : 10320-52F0-008
Servomotor detector side
connector (DDK)
Connector :
MS3106A22-14S (D190)
Angle back shell:
CE-22BA-S
Clamp: CE3057-12A-3
ENCP22-14L2
Compliant cable
range
ø9.5 to ø13
Servo drive unit side
connector (3M)
Connector : 10120-3000VE
Shell kit : 10320-52F0-008
Servomotor detector side
connector (DDK)
Connector :
MS3106A22-14S (D190)
Angle back shell:
CE-22BA-S
Clamp: CE3057-12A-2
For
general
environment
Straight
FCUA-CS080
Servo drive unit side
connector (3M)
Connector : 10120-3000VE
Shell kit : 10320-52F0-008
Servomotor detector side
connector (DDK)
Connector :
MS3106B22-14S
Clamp: MS3057-12A
Angle
FCUA-CS084
Servo drive unit side
connector (3M)
Connector : 10120-3000VE
Shell kit : 10320-52F0-008
Servomotor detector side
connector (DDK)
Connector :
MS3108B22-14S
Clamp: MS3057-12A
For CN5, SJ spindle detector
CN6, cable connector set
CN7
(Note) The connector maker may change without notice.
A dedicated connector set is not prepared.
The FCUA-CS000 set can be used on the drive unit side.
6 - 12

6. Dedicated Options
For
motor
power
Item Model Contents
Power connector IP67 and Straight Special order part
Servomotor side power connector
for
EN
(JAE)
HC-H52 to 352, standard
Plug: JL04V-6A22-22SE-EB
HC-H53 to 353 compatible
Clamp: JL04-2022CK (14)
Angle
Special order part Servomotor side power connector
(JAE)
Plug: JL04V-8A22-22SE-EB
Clamp: JL04-2022CK (14)
Power connector
for
HC-H452 to 1102,
HC-H453 to 1103
IP67 and
EN
standard
compatible
Straight
PWCE32-17S
Compliant cable
range
ø22 to ø23.8
Servomotor side power connector
(DDK)
Connector: CE05-6A32-17SD-B-BSS
Clamp: CE3057-20A-1 (D265)
Angle
PWCE24-10L
Compliant cable
range
Ø13 to ø15.5
Servomotor side power connector
(DDK)
Connector: CE05-8A32-17SD-B-BAS
Clamp: CE3057-20A-1 (D265)
For
general
environment
Straight
FCUA-CN811
Servomotor side power connector
(DDK)
Connector: MS3106B32-17S
Clamp: MS3057-20A
Angle
FCUA-CN815
Servomotor side power connector
(DDK)
Connector: MS3108B32-17S
Clamp: MS3057-20A
For
motor
brake
Brake connector
for
HC-H52B to 1102B,
HC-H53B to 1103B
IP67 and
EN
standard
compatible
Straight
Angle
BPKP10SL-4S
Compliant cable
range
ø5 to ø8.3
MR-BKCN can
also be used.
BRKP10SL-4L
Compliant cable
range
ø5 to ø8.3
Servomotor side brake connector
Connector: MS3106A10SL-4S (D190)
(DDK)
Clamp: YSO10-5-8 (DAIWA DENGYO)
Servomotor side brake connector
Connector: MS3106A10SL-4S (D190)
(DDK)
Clamp: YLO10-5-8 (DAIWA DENGYO)
For
general
environment
Straight
FCUA-CN804
Servomotor side brake connector
(Japan Aviation Electronics)
Connector: MS3106B10SL-4S
Clamp: MS3057-4A
Angle
FCUA-CN808
Servomotor side brake connector
(Japan Aviation Electronics)
Connector: MS3108B10SL-4S
Clamp: MS3057-4A
(Note) The connector maker may change without notice.
6 - 13

6. Dedicated Options
6-3-2 Connector outline dimension drawings
Connector for CN1A, CN1B, CN2, CN3, CN4, CN5, CN6, CN9
Maker: 3M (Ltd.)
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
12.0
[Unit: mm]
22.0
14.0
23.8
39.0
10.0
33.3 12.7
Maker: 3M (Ltd.)
Connector: 10120-6000EL
Shell kit: 10320-3210-000
11.5
[Unit: mm]
Because this connector is an
integrated molding part of the
cable, it is not an option
setting in the connector set.
The terminal connector
(A-TM) also has the same
outline.
42.0
33.0
20.9
29.7
6 - 14

6. Dedicated Options
Connectors for detector and motor power (IP67 and EN standard compatible)
Straight plug
Maker : DDK (Ltd.)
W
D or less
7.85 or more
A
øC± 0.8
-0.38 øB +0
[Unit: mm]
Model A B C D W
CE05-6A18-12SD-B-BSS 1 1 / 8 -18UNEF-2B 34.13 32.1 57 1-20UNEF-2A
CE05-6A22-23SD-B-BSS 1 3 / 8 -18UNEF-2B 40.48 38.3 61 1 3 / 16 -18UNEF-2A
CE05-6A32-17SD-B-BSS 2-18UNS-2B 56.33 54.2 79 1 3 / 4 -18UNS-2A
Angle plug
Maker : DDK (Ltd.)
D or less
A
(S)±1
U ±0.7
R ± 0.7
Y or more
-0.38 øB +0
W
[Unit: mm]
Model A B D W R U S Y
CE05-8A18-12SD-B-BAS 1 1 / 8 -18UNEF-2B 34.13 69.5 1-20UNEF-2A 13.2 30.2 43.4 7.5
CE05-8A22-23SD-B-BAS 1 3 / 8 -18UNEF-2B 40.48 75.5 1 3 / 16 -18UNEF-2A 16.3 33.3 49.6 7.5
CE05-8A32-17SD-B-BAS 2-18UNS-2B 56.33 93.5 1 3 / 4 -18UNS-2A 24.6 44.5 61.9 8.5
Cable clamp
Maker : DDK (Ltd.)
1.6
V screw
C
(D)
A
B ± 0.7
øF
Bushing (inside
diameter)
G ± 0.7
H
(Moveable range of one side)
øE
(Cable clamp inside
diameter)
Model
Shell
size
Effective
Total Outside
screw
length dia.
length
A B C D E F G H
Installation
screw (V)
Bushing
[Unit: mm]
Compliant
cable
CE3057-10A-2 (D265) 18 23.8 30.1 10.3 41.3 15.9 11 31.7 3.2 1-20UNEF-2B CE3420-10-2 ø8.5 to ø11
CE3057-12A-2 (D265) 20,
13 1 3 / CE3420-12-2 ø9.5 to ø13
23.8 35 10.3 41.3 19 37.3 4 16 -18UNEF-2
CE3057-12A-3 (D265) 22
10
B
CE3420-12-3 ø6.8 to ø10
CE3057-20A-1 (D265) 32 27.8 51.6 11.9 43.0 31.7 23.8 51.6 6.3 1 3 / 4 -18UNS-2B CE3420-20-1 ø22 to ø23.8
6 - 15

6. Dedicated Options
Connectors for motor power (IP67 and EN standard compatible)
Straight plug
Maker : Japan Aviation Electronics (Ltd.)
Polarizing
Groove
L
øA
øB
1-3/16-18UNEF-2A
F
[Unit: mm]
Contact configuration
øA øB L F øG
V
Model
Layout Size × No.
±0.8 ±0.2 ±0.8 ±0.5 ±0.5 screw
symbol of cores
JL04V-6A22-22SE-EB 22-22 #8 × 4 40.5 30.05 67.63 35 17 1-3/16-18UNEF-2A
Right angle plug
Maker : Japan Aviation Electronics (Ltd.)
Polarizing
Groove
øG
øA
10
±0.5
V
D
B
C
[Unit: mm]
Contact configuration
øA øB C D øG
V
Model
Layout Size × No.
±0.8 ±0.8 ±0.8 ±0.8 ±0.5 screw
symbol of cores
JL04V-8A22-22SE-EB 22-22 #8 × 4 40.5 60.23 73.93 32 17 1-3/16-18UNEF-2A
Cable clamp
Maker : Japan Aviation Electronics (Ltd.)
D
C
V screw
A
øF
Bushing (inside
diameter)
(Moveable range of one side)
[Unit: mm]
A B C D øE F
W
Applicable cable
Model
±0.8 ±0.8 ±0.8 ±0.8 ±0.8 ±0.8 screw
diameter
JL04V-2022CK (14) 37.3 34.9 24.3 53.8 15.9 4 1-3/16-18UNEF-2A ø 12.9 to ø15.9
B
F
øE
(Cable clamp inside diameter)
6 - 16

6. Dedicated Options
Connectors for detector, motor power and brake (IP67 and EN standard compatible)
Straight plug
Maker : DDK (Ltd.)
Gasket
J ± 0.12
A
-0.25 øG +0.05
-0.38 øB +0
D
E±0.3
H or less
C±0.5
[Unit: mm]
Model A B C D E G J
MS3106A10SL-4S (D190)
5 / 8 -24UNEF-2B 22.22 23.3
9 / 16 -24UNEF-2A 7.5 12.5 13.49
MS3106A22-14S (D190) 1 3 / 8 -18UNEF-2B 40.48 34.11 1 1 / 4 -18UNEF-2A 12.15 29.9 18.26
Straight plug
Maker : DDK (Ltd.)
Model : CE05-6A14S-2SD-B
3
4
-20UNEF-2A screw
7
8
-20UNEF-2B screw
[Unit: mm]
D terminal
-0.38 ø28.57 +0
5.6±0.8 24±1
Straight back shell
Maker : DDK (Ltd.)
B
L
W screw
V screw
øA
O-ring
øC
7.85 or more
(Effective screw length)
D
(Spanner grip)
[Unit: mm]
Model L A B C D V W
CE02-22BS-S 35 36.5 10.9 17.8 32.4 1 1 / 4 -18UNEF-2B 1 3 / 16 -18UNEF-2A
Angle back shell
Maker : DDK (Ltd.)
Model : CE-22BA-S
50.5 or less
39.6 or less
[Unit: mm]
1 1 / 4-18UNEF-2B screw
(49.6)
16.3
33.3
7.5 or more
O-ring
ø38.6
1 3 / 16-18UNEF-2A screw
6 - 17

6. Dedicated Options
Connectors for motor power and brake (IP67 and EN standard compatible)
Cable clamp
Maker : DAIWA DENGYO (CO., LTD.)
YSO
O-ring
A0
YLO
L1
D (D1)
L2
L
D2
O-ring
A0
Model
YSO10-5 to 8,
YLO10-5 to 8
Accommodating
outside
diameter
ø5 to 8.3
YSO14-9 to 11 ø8.3 to 11.3
[Unit: mm]
American
standard screw
Length before
tightening
Side to
side
Corner to
corner
A0 L L1 L2 D D1 D2
9
/ 16 -24UNEF-2B 43 39 42.5 24 26 26
3
/ 4 -20UNEF-2B 44 43.5 44.5 26 28 35
6 - 18

6. Dedicated Options
Connectors for detector, motor power and brake (for general environment)
Straight plug
Maker : DDK (Ltd.)
W or
more
L or less
J ±0.12
Y or less
A
-0.38 øQ +0
Model
Coupling
screw
Length of
coupling section
Total
length
V
Connection nut
outside diameter
Cable clamp
installation
screw
[Unit: mm]
Effective
screw
length
A J L Q V W Y
MS3106B18-12S 1 1 / 8 -18UNEF 18.26 52.37 34.13 1-20UNEF 9.53 42
MS3106B20-29S 1 1 / 4 -18UNEF 18.26 55.57 37.28 1 3 / 16 -18UNEF 9.53 47
MS3106B22-14S
MS3106B22-23S
1 3 / 8 -18UNEF 18.26 55.57 40.48 1 3 / 16 -18UNEF 9.53 50
MS3106B32-17S 2-18UNEF 18.26 61.92 56.33 1 3 / 4 -18UNS 11.13 66
Max.
width
Angle plug
Maker : DDK (Ltd.)
L or less
J±0.12
R±0.5
A
-0.38 øQ +0
U±0.5
V
W or
more
Model
Coupling
screw
Length of
coupling
section
Total
length
Connection
nut outside
diameter
Cable clamp
installation
screw
[Unit: mm]
Effective
screw
length
A J L Q R U V W
MS3108B18-12S 1 1 / 8 -18UNEF 18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53
MS3108B22-14S
MS3108B22-23S
1 3 / 8 -18UNEF 18.26 76.98 40.48 24.1 33.3 1 3 / 16 -18UNEF 9.53
MS3108B32-17S 2-18UNEF 18.26 95.25 56.33 32.8 44.4 1 3 / 4 -18UNS 11.13
Straight plug
Maker : Japan Aviation
Electronics (Ltd.)
Model: MS3106B10SL-4S
Effective screw
length
(Including relief
of 2.77 or less)
5 / 8-24UNEF-2A13.5±0.3 5 / 8-24UNEF-2B
9.5
or more
38.9
or less
ø 22.2±0.8
[Unit: mm]
6 - 19

6. Dedicated Options
Connectors for detector, motor power and brake (for general environment)
Angle plug
Maker : Japan Aviation
Electronics (Ltd.)
Model: MS3108B10SL-4S
13.5±0.3
5 / 8-24UNEF-2B
ø22.2±0.8
[Unit: mm]
9.5 or more
ø25.0±0.8
5 / 8-24UNEF-2A 36.9±0.8
46.0 or less
Cable clamp
Maker : DDK (Ltd.)
1.6
C
A±0.7
ØE (Bushing inside diameter)
V
ØD (Cable clamp inside diameter)
øB±0.7
G±0.7
F (Moveable range)
Total
length
Outside
diamete
r
Effective
screw
length
Installation
screw
[Unit: mm]
Model Shell size
Bushing
A B C D E F G V
MS3057-4A 10SL, 12S 20.6 20.6 10.3 7.9 5.6 1.6 22.2
5 / 8 -24UNEF AN3420-4
MS3057-10A 18 23.8 30.1 10.3 15.9 14.3 3.2 31.7 1-20UNEF AN3420-10
MS3057-12A 20, 22 23.8 35.0 10.3 19.0 15.9 4.0 37.3 1 3 / 16 -18UNEF AN3420-12
MS3057-16A 24, 28 26.2 42.1 10.3 23.8 19.1 4.8 42.9 1 7 / 16 -18UNEF AN3420-16
6 - 20

6. Dedicated Options
6-3-3 Flexible conduits
Basically, splash proofing can be ensured if cab-tire cable and connectors with IP65 or higher
specifications are used. However, to further improve the oil resistance (chemical resistance to oil),
weather resistance (resistance to the environment when used outdoors, etc.), durability, tensile strength,
flattening strength, etc., run the cable through a flexible conduit when wiring.
The following shows an example of a flexible conduit. Contact the connector maker for more
information.
(1) Method for connecting to a connector with back shell
Connector with
back shell
Connector
for conduit
Flexible conduit
Cable
Application
For
power
Applicable
motors
HC-H52 to 102
HC-H53 to 103
HC-H152 to 452
HC-H203 to 353
HC-H702 to 1102
HC-H453 to 1103
Connector (straight)
CE05-6A22-23SD-B-
BSS
CE05-6A24-10SD-B-
BSS
CE05-6A32-17SD-B-
BSS
DDK
Connector (angle)
CE05-8A22-23SD-B-
BAS
CE05-8A24-10SD-B-
BAS
CE05-8A32-17SD-B-
BAS
Model
(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.
Connector for
conduit
RCC-104CA2022
RCC-106CA2022
RCC-106CA2428
RCC-108CA2428
RCC108CA32
RCC110CA32
Nippon Flex
Flexible conduit
VF-04
(Min. inside diameter: 14)
VF-06
(Min. inside diameter: 19)
VF-06
(Min. inside diameter: 19)
VF-08
(Min. inside diameter: 24.4)
VF-08
(Min. inside diameter: 24.4)
VF-10
(Min. inside diameter: 33.0)
Back shell
Connector
for conduit
Flexible conduit
Cable
Connector
Application
For
brake
For
detector
Applicable
motors
HC-H202B to
H1102B
HC-H203B to
H1103B
HC-H52 to
H1102
HC-H53 to
H1103
Connector/back
shell (straight)
DDK
Connector/back
shell (angle)
6 - 21
Model
Connector for
conduit
Nippon Flex
Select according to section "(2) Method for connecting to the connector main body".
Connector
MS3106A22-14S
(D190)
Back shell
CE02-22BS-S
Connector
MS3106A22-14S
(D190)
Back shell
CE-22BA-S
RCC-104CA2022
RCC-106CA2022
Flexible conduit
VF-04
(Min. Inside diameter: 14)
VF-06
(Min. Inside diameter: 19)

6. Dedicated Options
(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.
(2) Method for connecting to the connector main body
Connector
for conduit
Flexible conduit
Cable
Connector
Application
For
power
Applicable motors
HC-H52 to 352
HC-H53 to 353
HC-H452 to H1102
HC-H453 to H1103
Model
DDK
DAIWA DENGYO
Connector (straight) Connector for conduit Flexible conduit
CE05-6A22-23SD-B
CE05-6A32-17SD-B
MSA-16-22
MAA-16-22
MSA-22-22
MAA-22-22
Please contact to a
maker.
(Straight)
(Angle)
(Straight)
(Angle)
FCV16
(Min. inside diameter: 15.8)
FCV22
(Min. inside diameter: 20.8)
FCV36
(Min. inside diameter: 35.0)
For brake
For
detector
HC-H202B to H1102B
HC-H203B to H1103B
OSA104, 105
OSE104, 105
MS3106A10SL-4S (D190)
MS3106A22-14S (D190)
MSA-10-10
MAA-10-10
MSA-16-22
MAA-16-22
MSA-22-22
MAA-22-22
(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.
(Straight)
(Angle)
(Straight)
(Angle)
(Straight)
(Angle)
FCV10
(Min. inside diameter: 10.0)
FCV16
(Min. inside diameter: 15.8)
FCV22
(Min. inside diameter: 20.8)
6 - 22

6. Dedicated Options
6-3-4 Cable wire and assembly
(1) Cable wire
The following shows the specifications and processing of the wire used in each cable. Manufacture
the cable using the following recommended wire or equivalent parts.
Recommended
wire model
(Cannot be
directly ordered
from Mitsubishi
Electric Corp.)
UL20276 AWG28
10pair
Finished
outside
diameter
Sheath
material
No. of
pairs
6.1mm PVC 10
A14B2343 (Note 1) 7.2mm PVC 6
TS-91026 (Note 2) 11.6mm PVC
2
(0.3
mm 2 )
10
(0.2
mm 2 )
Configuration
7 strands/
0.13mm
40
strands/
0.08mm
60
strands/
0.08mm
40
strands/
0.08mm
(Note 1) Junko Co. (Dealer: Toa Denki)
(Note 2) BANDO ELECTRIC WIRE (http: //www.bew.co.jp)
Conductor
resistance
222Ω/km
or less
105Ω/km
or less
63Ω/km
or less
95Ω/km
or less
Wire characteristics
Withstand
voltage
AC350/ 1min
Heat
Insulation
resistant
resistance
temperature
1MΩ/km
or more
AC500/ 1min 1500MΩ/k
m or more
AC750V/
1min
60MΩ/km
or more
80°C
Application
NC unit
communication
cable
105°C Detector cable
60°C
Detector cable
(Cable length:
20m or more)
(2) Cable assembly
Assemble the cable as shown in the following drawing, with the cable shield wire securely
connected to the ground plate of the connector.
Core wire
Core wire
Shield (external conductor)
Sheath
Shield
(external conductor) Sheath
Ground plate
6 - 23

6. Dedicated Options
(3) Cable protection tube (noise countermeasure)
If influence from noise is unavoidable, or further noise resistance is required, selecting a flexible
tube and running the signal cable through this tube is effective. This is also an effective
countermeasure for preventing the cable sheath from being cut or becoming worn.
A cable clamp (MS3057) is not installed on the detector side, so be particularly careful of broken
wires in applications involving bending and vibration.
Supplier
Nippon Flex
Control Corp.
DAIWA DENGYO
CO., LTD
Sankei Works
Tube
FBA-4
(FePb wire braid sheath)
Hi-flex
PT #17 (FePb sheath)
Purika Tube
PA-2 #17 (FePb sheath)
Connector
Drive unit side Installation screws Motor detector side
RBC-104 (straight)
RBC-204 (45°)
RBC-304 (90°)
PSG-104 (straight)
PLG-17 (90°)
PS-17 (straight)
G16
G16
G16
Screw diameter ø26.4
Screw diameter ø26.4
PF1/2
RCC-104-CA2022
PDC20-17
BC-17 (straight) Wire tube screws : 15 PDC20-17
(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.
6 - 24

6. Dedicated Options
6-3-5 Option cable connection diagram
CAUTION
Do not mistake the connection when manufacturing the detector cable. Failure to
observe this could lead to faults, runaway or fires.
(1) NC unit communication cable
< SH21 cable connection diagram >
This is an actual connection diagram for the SH21 cable supplied by Mitsubishi.
Manufacture the cable as shown below. The cable can be up to 30m long. Refer to section "6-4-4
Cable wire and assembly" for details on wire.
1
11
2
12
3
13
4
14
5
15
6
16
7
17
8
18
9
19
10
20
FG
1
11
2
12
3
13
4
14
5
15
6
16
7
17
8
18
9
19
10
20
FG
Plate
(2) Detector cable for HC-H [_]-A51/42, -E51/42
This is an actual connection diagram for the CNV12 cable supplied by Mitsubishi. The connection
differs according to the cable length.
(20m or less) (20 to 30m)
Drive unit side
Detector side
Drive unit side
Detector side
6
16
7
17
9
19
10
20
H
J
K
L
E
S
SD
SD*
RQ
RQ*
BAT
P5(+5V)
6
16
7
17
9
19
10
20
0.3mm 2
H
J
K
L
E
S
SD
SD*
RQ
RQ*
BAT
P5(+5V)
1
11
R
LG(GND)
1
R
LG(GND)
FG
N
Plate (FG)
11
0.3mm 2
FG
N
Plate (FG)
CAUTION
Do not connect anything to pins unless particularly specified when
manufacturing a cable.
6 - 25

6. Dedicated Options
(3) PLG detector cable for SJ spindle
This is an actual connection diagram for the CNP5S cable supplied by Mitsubishi.
Manufacture the cable as shown below. The cable can be manufactured to 30m. Refer to section
"6-3-4 Cable wire and assembly" for details on wire.
Drive unit side
PLG
detector side
6
16
7
17
8
18
10
1
20
11
3
13
A2
B2
A3
B3
A4
B4
A1
B5
A6
B6
PA
RA
PB
RB
PZ
RZ
P5
GND
MOH
RG
FG
A5
FG
CAUTION
The CNP5S cable is dedicated for the 400V compatible spindle PLG detector.
This is an actual connection diagram for the CNP6M or CNP6A cable supplied by Mitsubishi.
Manufacture the cable as shown below. The cable can be manufactured to 30m. Refer to section
"6-3-4 Cable wire and assembly" for details on wire.
CNP6M cable
Drive unit side
PLG
detector side
CNP6A cable
Drive unit side
PLG
detector side
6
16
7
17
5
15
A
D
F
E
C
B
2
12
3
13
4
14
10
1
19
11
20
15
A
N
C
R
B
P
H
K
A
A
B
B
Z
Z
+5V
0V
FG
FG
FG
CAUTION
When manufacturing the cable, do not connect anything to the pins having no
description.
6 - 26

6. Dedicated Options
This is an actual connection diagram for the cable supplied by Mitsubishi.
Manufacture the cable as shown below. The cable can be manufactured to 30m. Refer to section
"6-3-4 Cable wire and assembly" for details on wire.
CNP7A cable
CNP76A cable
Drive unit side
PLG
detector side
Drive unit side (CN7)
PLG
detector side
CA
CA*
CB
CB*
CZ
CZ*
P5
GND
P5
GND
P5
GND
2
12
3
13
4
14
10
1
19
11
20
15
F
L
G
M
S
T
H
K
CA
CA*
CB
CB*
CZ
CZ*
P5
GND
P5
GND
P5
GND
2
12
3
13
4
14
10
1
19
11
20
15
F
L
G
M
S
T
H
K
C
C
D
D
Y
Y
+5V
0V
Flame
FG
E
Flame
FG
E
Drive unit side (CN6)
2
12
3
13
4
14
10
1
19
11
20
15
FG
A
N
C
R
B
P
E
A
A
B
B
Z
Z
6 - 27

6. Dedicated Options
6-3-6 Main circuit cable connection drawing
The methods for wiring to the main spindle are explained in this section.
CAUTION
1. The main circuit cable must be manufactured by the user.
2. Refer to Chapter 7 "Selection of peripheral devices" or Appendix 4 "UL/c-UL
Standard Compatible Unit Instruction Manual" for details on selecting the
wire material.
3. Lay out the terminal block on the drive unit as explained in section "2-2 Main
circuit terminal block and control circuit connector".
4. Refer to section "10-2-4 Outline dimension drawings" for details on the
servomotor connectors and terminal block. Refer to the Spindle Motor
Specifications for details on the spindle motor terminal block.
(1) DRSV1 cable and DRSV2 cable
These cables connect the TE1 terminal on the servo drive unit with the HC-H motor.
• DRSV1 cable : Power cable for L axis in 1-axis unit (MDS-CH-V1-) and 2-axis integrated unit
(MDS-CH-V2).
• DRSV2 cable : Power cable for M axis in 2-axis integrated unit (MDS-CH-V2-).
Example of general wiring
Drive unit side
Motor side
Example of EMC Directive compliant wiring
Drive unit side
Motor side
L1
L2
L3
FG
A
B
C
D
U
V
W
FG
L1
L2
L3
FG
A
B
C
D
U
V
W
FG
Shield or conduit
D
C
A
B
Motor connector
JL04HV-2E22-22PE-B
JL04V-2E32-17PE-B
(2) DRSP cable
This cable connects the TE1 terminal on the spindle drive unit with the SJ-4 spindle motor.
Example of general wiring
Example of EMC Directive compliant wiring
Drive unit side Motor side Drive unit side Motor side
L1
L2
L3
FG
U
V
W
FG
U
V
W
FG
L1
L2
L3
FG
U
V
W
FG
U
V
W
FG
Shield or conduit
Connect to terminal block
Example of connection terminal box
layout on spindle motor side
6 - 28

6. Dedicated Options
6-4 Scale I/F unit
6-4-1 Outline
MDS-B-HR outline
(1) The unit interpolates the original wave of scale analog output to create high-resolution position data.
Increasing the detector resolution is effective for obtaining high gain of the servo.
(2) 1-scale, 2-drive operation will be possible with the signal distribution function (model division
available).
6-4-2 Model configuration
Scale I/F unit model configuration
MDS-B-HR-
Protective degree
No-mark: IP65
P: IP67
Availability of magnetic pole detection unit
No-mark: None
M: Available
Used for linear servo system
Signal distribution function
1: Output number 1
2: Output number 2 (Distribution available)
Scale output voltage
1: Scale output voltage 1V p-p specifications
2: Scale output voltage 2V p-p specifications
6-4-3 List of specifications
Scale I/F unit model
Unit MDS-B-HR- MDS-B-HR- MDS-B-HR- MDS-B-HR-
11 12 11P 12P 21 22 21P 22P
Corresponding scale
(Example)
LS186/LIDA181/LIF181
(HEIDENHAIN product)
AT342 special
(Mitsutoyo product)
Signal 2-distribution function × ◦ × ◦ × ◦ × ◦
Analog signal input specification
A-phase, B-phase and Z-phase
2.5V reference
Amplitude 1Vp-p
A-phase, B-phase and Z-phase
2.5V reference
Amplitude 2Vp-p
Applicable frequency
Analog original waveform 200 kHz max.
Scale resolution
Analog original waveform/512 div.
Input/output communication form
High-speed serial communication I/F, equivalent to RS485
Availability of magnetic pole
detector
Compatible parts are indicated with an M after the type
Tolerable ambient temperature °C 0 to 55°C
Tolerable ambient relative humidity % 90% or less (no condensing)
Atmosphere
With no poisonous gas
Tolerable vibration
m/s2
(G)
98.0m/s2 (10G)
Tolerable impact (shock)
m/s2
(G)
294.0m/s2 (30G)
Tolerable power voltage V 5VDC±5%
Maximum heat generation W 2W
Weight kg 0.5kg or less
Protective degree IP65 IP67 IP65 IP67
6 - 29

6. Dedicated Options
6-4-4 Unit outline dimension drawing
6.5 152 6.5 46
5
RM15WTR-10S
70
CON2 CON1
5
CON3
CON4
RM15WTR-8P × 2
4-ø5 hole
RM15WTR-12S
165
6-4-5 Description of connector
Connector name Application Remarks
CON1 For connection with servo drive unit (2nd part system) None for 1st part system specifications
CON2 For connection with servo drive unit
CON3 For connection with scale
CON4 For connection with magnetic pole detection unit (MDS-B-MD) Only for linear servo motor specifications
Assignment of connector pins
CON1 CON2 CON3 CON4
Pin No. Function Pin No. Function Pin No. Function Pin No. Function
1 RQ+ signal 1 RQ+ signal 1 A+ phase signal 1 A-phase signal
2 RQ− signal 2 RQ− signal 2 A− phase signal 2 REF signal
3 SD+ signal 3 SD+ signal 3 B+ phase signal 3 B-phase signal
4 SD− signal 4 SD− signal 4 B− phase signal 4 REF signal
5 P5 5 P5 5 Z+ phase signal 5 P24
6 P5 6 P5 6 Z− phase signal 6 MOH signal
7 GND 7 GND 7 RQ+ signal 7 P5
8 GND 8 GND 8 RQ− signal 8 P5
9 SD+ signal 9 TH signal
10 SD− signal 10 GND
11 P5
12 GND
Connector: RM15WTR – 8P (Hirose Electric) ….. CON1, CON2
RM15WTR – 12S (Hirose Electric) … CON3
RM15WTR – 10S (Hirose Electric) ….. CON4
2
1
3
8
4
7
5
6
7
6
8 9 1
12
11 10
5 4
2
3
7
6
8
5
9
10
1
4
2
3
CON1
CON2
CON3
6 - 30
CON4

6. Dedicated Options
6-4-6 Example of detector conversion unit connection
Cable Structure
MDS-CH-V1
MDS-CH-V1
C N L 2 H2 – S – [Cable length]
CN2 or
CN3
CN2 or
CN3
Connector Lock Type
Non: One touch type
S: Screw lock type
Connection destination
S: Directly connect to scale
MD: Connect magnetic pole detection unit
None: Connect between scales
MDS-B-HR side Connector
H1: CON1 H3: CON3
H2: CON2 H4: CON4
Drive unit side connector
2:CN2, CN2L, CN2M (Motor side connection)
3:CN3, CN3L, CN3M (Machine side connection)
Non: No connect (Drive unit side)
Abs. position linear scale
(2) CNL2H2
or CNL2H2-S
(1) CNL2 or CNL2-S
CON2
Scale I/F unit
MDS-B-HR
CON4 (4) CNLH4MD
CON3
(3) CNLH3-S
Abs. position linear scale (AT342)
Inc. linear scale
The Mitsubishi NC compatible linear scale (serial part) can be directly connected to the drive unit.
Refer to section "6-6-1 List of detector specifications".
6 - 31

6. Dedicated Options
6-4-7 Cables
For
CN2
CN3
(1) Cable list
Item Model name Content
Cable for direct CNL -
Servo drive unit side connector
connection of
(3M or the equivalent)
scale
Unit side connector shape
Blank: One-touch type
S: Screw type lock
Connector : 10120-3000VE
Shell kit
: 10320-52F0-008 (One-touch type)
: 10320-52A0-008 (Screw type)
Connection destination
2: CN2
3: CN3
Length:
1.5, 2, 2.5, 3, 3.5, 4, 4.5, 5,
6, 7, 8, 9, 10, 11, 12, 13, 14,
15, 20, 30m
This cable must be manufactured by the user according to the
scale being used.
Cable between
drive unit and
HR unit
CNL -
Unit side connector shape
Blank: One-touch type
S: Screw type lock
Connection destination
2: CN2
3: CN3
Servo drive unit side
connector
(3M or the equivalent)
Connector :10120-3000VE
Shell kit:10320-52F0-008
(One-touch type)
:10320-52A0-008
(Screw type)
MDS-B-HR unit side connector
(Hirose Electric)
Connector : RM15WTP-8S
Clamp : RM15WTP-CP (10)
Length:
2, 5, 10, 20, 30m
For
MDS-B-
HR unit
Cable between
HR unit and
scale
CNLH3S
Length
Max. 30m
MDS-B-HR unit side connector
(Hirose Electric)
Connector : RM15WTP-12P
Clamp : RM15WTP-CP (10)
This cable must be manufactured by the user according to the
scale being used.
For CN4
Magnetic pole
detection unit
connection
cable
CNLH4MD
Length
2, 5, 10, 20, 30m
MDS-B-HR unit side
connector
(Hirose Electric)
Connector: RM15WTP-10P
Clamp: RM15WTP-CP (10)
MDS-B-MD unit side
connector
(Hirose Electric)
Connector: RM15WTP-8S
Clamp: RM15WTP-CP (10)
6 - 32

6. Dedicated Options
(2) Manufacturing drawings for each cable
1) Cable for direct connection of scale (CNL2S cable, etc.)
Amplifier side CN2, 3
10120-3000VE
Scale side
(Reference)
LM191M
Relay section
(Reference)
AT342
Relay section
6
16
7
17
SD
SD*
RQ
RQ*
14
17
8
9
5
6
7
8
19
10
P5(+5V)
7
11
1
2
20
1
11
LG
4
10
3
4
FG
FG plate
FG
FG
Note) Only the absolute position scale can be connected directly to the drive unit.
2) Cable between drive unit and scale I/F unit (CNL2H2 cable, etc.)
Scale
Drive unit side CN2, 3 I/F unit side CON1, 2
10120-3000VE
RM15WTP-8S
6
16
7
17
3
4
1
2
SD
SD*
RQ
RQ*
19
10
20
5
6
P5(+5V)
P5(+5V)
1
11
7
8
LG
LG
FG
FG
Case grounding
CAUTION
When manufacturing the cable, do not connect anything to the pins having no
description.
6 - 33

6. Dedicated Options
3) Cable between scale I/F unit and scale (CNLH3 cable, etc.)
Scale
I/F unit side CON3
RM15WTP-12S
Scale side
(Reference)
AT342
9
10
7
8
1
2
3
4
5
6
11
SD
SD*
RQ
RQ*
A+
B+
Vref
R+
R-
P5(+5V)
5
6
7
8
9
10
11
1
2
3
12
LG
4
FG
Case
grounding
FG
For Hirose round connector
RM21WTR20S
4) Cable between scale I/F unit and magnetic pole detection unit (CNLH4MD cable)
Scale
I/F unit side CON4
RM15WTP-10P
Magnetic pole detection unit side
RM15WTP-8S
1
2
3
4
9
7
8
10
1
2
3
4
5
6
7
8
MA+
MA-
MB+
MB-
TH
P5(+5V)
P5(+5V)
LG
PE
Scale
I/F unit side CON4
RM15WTP-10P
PE
Case
grounding
Motor side
5
6
24V
MOH
G1
G2
External power supply
24V
GND
Refer to section "6-3-4 Cable wire and assembly" for details on the wire materials.
Recommended wire type: A14B2343 (Junkosha, Inc.)
CAUTION
When manufacturing the cable, do not connect anything to the pins having no
description.
6 - 34

6. Dedicated Options
(3) Cable connectors
Maker: Hirose Electric
[Unit: mm]
Scale I/F unit side connectors
CON1 RM15WTP - 8S
CON2 RM15WTP - CP ()
RM15WTP - 12P
CON3
RM15WTP - CP ()
RM15WTP - 10P
CON4
RM15WTP - CP ()
Plug
RM15WTP- M19×1 M16×0.75
ø23
ø 15.2
Magnetic pole detection unit
connectors
36.8
RM15WTP - 8S
CNM1
RM15WTP - CP ()
Caution:
indicates the cable diameter.
Cord clamp
RM15WTP-CP ()
M16×0.75
8.5 20
ø19
ø A
Product name ø A Applicable cable diameter
RM15WTP - CP (5) 6.5 5
RM15WTP - CP (6) 6.5 6
RM15WTP - CP (7) 8 7
RM15WTP - CP (8) 10.5 8
RM15WTP - CP (9) 10.5 9
RM15WTP - CP (10) 10.5 10
6 - 35

6. Dedicated Options
6-5 Magnetic pole detection unit
6-5-1 Outline
This unit detects the magnetic pole of the linear servomotor's secondary magnet, and outputs the
results as an analog voltage. (Only linear servomotor)
When using the relative value specifications, always install this unit as the magnetic poles do not need
to be positioned when the power is turned ON.
6-5-2 Model configuration
MDS–B-MD– [ ][ ][ ]
Protective degree No-mark: IP65, P: IP67
Applicable motor 0: 200V Class linear servomotor
1: 400V Class linear servomotor
Compatible pole pitch class 60: Pole 60mm pitch
6-5-3 List of specifications
Specification
Unit
Magnetic pole detection unit model
MDS-B-MD60[_] MDS-B-MD60[_]P
Tolerable ambient temperature °C 0 to 55°C
Tolerable ambient relative
humidity
% 90% (RH) or less (no condensing)
Atmosphere
With no poisonous gas
Tolerable vibration m/s 2 98 m/s 2
Tolerable impact (shock) m/s 2 294 m/s 2
Tolerable power voltage V 5VDC ± 5%
Maximum heat generation W 1W or less
Weight Kg 0.1kg or less
Protective degree IP65 IP67
Either "1" or "0" is indicated in [_].
6-5-4 Outline dimensions
6 - 36

6. Dedicated Options
6-5-5 Assignment of connector pins
Connector name Application Remarks
CON1
Detects magnetic pole of linear servomotor's
secondary magnet, and outputs an analog voltage
Connect with scale I/F unit
(MDS-B-HR)
CON1
Pin No. Function
1 A-phase signal
2 REF signal
3 B-phase signal
4 REF signal
5 TH signal
6 P5 (5VDC)
7 P5 (5VDC)
8 GND
2
3
1
8
4
Applicable connector
RM15WTR-8P (Hirose Electric)
7
5
6
6-5-6 Installing onto the linear servomotor
(1) For LM-NP4
2-M5 screw
(2) For other motors
Refer to each Linear Servomotor Specifications for details on installing onto other linear
servomotors.
6 - 37

6. Dedicated Options
6-6 Detectors
CAUTION
The MDS-CH Series servo drive units use the serial encoders only as the motor
side detectors.
6-6-1 List of detector specifications
Motor side
detector
Class Type Model
Ball screw side
detector
Machine side
detector
(Note)
Purchase from a
manufacturer.
Relative
position
detector
Absolute
position
detector
Relative
position
detector
Absolute
position
detector
Relative
position
detector
Absolute
position
detector
OSE104, OSE104S,
OSE104S1, OSE104S2
OSE105, OSE105S,
OSE105S1, OSE105S2
Max. rotation
speed
3000r/min
3000r/min
Detector output
Serial data
Serial data
Output signal usage class
Motor position detection
100000p/rev
Motor position detection
1000000p/rev
OHE25K-ET
3000r/min
A, B-phase
25000p/rev
Ball screw side position detection
100000p/rev after multiplying by four
Z-phase 1p/rev Zero point indexing
OSE104-ET 3000r/min Serial data
Ball screw side position detection
100000p/rev
OSE105-ET 3000r/min Serial data
Ball screw side position detection
1000000p/rev
A, B-phase
Ball screw side position detection
OHA25K-ET
3000r/min 25000p/rev
100000p/rev after multiplying by four
Z-phase 1p/rev Zero point indexing
OSA104-ET 3000r/min Serial data
Ball screw side position detection
100000p/rev
OSA105-ET 3000r/min Serial data
Ball screw side position detection
1000000p/rev
(1) When linear scale I/F unit (MDS-B-HR) is not used
· Use a scale with an A/B phase difference and Z-phase width of 0.1µs or
more at the maximum feedrate.
· Use an A, B, Z-phase signal with differential output (RS-422 standard
product) for the output signal.
Use an incremental scale for
the machine side that satisfies
the conditions on the right.
AT41
(Mitsutoyo product)
FME, FML
(FUTABA product)
MP scale
(Mitsubishi Heavy Industries
product)
∗ Motor side detector also
needs an absolute position
encoder.
AT342
(Mitsutoyo product)
AT343
(Mitsutoyo product)
LC191M
(HEIDENHAIN product)
LC491M
(HEIDENHAIN product)
Phase difference Output circuit Z-phase
A-phase
A, B,
Z-phase
0.1µs or
more
B-phase
A, B,
0.1µs or more
Z-phase
Integer mm
For a scale having multiple Z phases, select
the one for which the distance between
neighboring Z phases is an integral mm.
(2) ∗ When linear scale I/F unit (MDS-B-HR) is used
(Output signal)
(a) 2.5V reference 1V p-p analog A-phase, B-phase, Z-phase
differential output
(b) 2.5V reference 2V p-p analog A-phase, B-phase, Z-phase
differential output
(Output signal frequency)
Max. 200kHz
Machine side position detection
A, B-phase
1µm/p after multiplying by four
50m/min
Zero point indexing
Z-phase
10mm spacing
Serial data Absolute position 1µm/p
5.1 to 120m/min
Differs according to the
resolution.
30m/min
110m/min
120m/min
120m/min
120m/min
A, B-phase
Serial data
A, B-phase
Z-phase
Serial data
Serial data
Serial data
Serial data
Machine side position detection
0.1 to 10µm/p after multiplying by
four
Machine side position detection
1µm/p after multiplying by four
Zero point indexing
2mm spacing
Machine side position detection
0.5µm/p
Machine side position detection
0.05µm/p
Machine side position detection
0.1µm/p, 0.05µm/p
Machine side position detection
0.05µm/p
CAUTION
Confirm each maker specifications before using the machine side detector.
6 - 38

6. Dedicated Options
6-6-2 Outline dimension drawings
(1) Standalone encoder (OSAET/OSEET Series) outline drawing
4-ø 4.8
Notch for
ET1
ø110
Cross section A-A
Key
position
MS3102A22-14 (19 pins)
(2) Outline drawings of OHE/OHA type ball screw side detector
• OHE 25K-ET
4-ø5.5 slot
hole uniform
PCD 100
Blue
Blue
Caution
plate
Key
position
The designated outer dimension
Connector: 97F3102E22-14P (DDK)
tolerance is ± 0.5mm.
Cross section B-B Pin No. Function Pin No. Function
A A-phase signal K V-phase signal
B
Weight 1.0 [kg] or less
A -phase signal L V -phase signal
Moment of
C B-phase signal M W-phase signal
0.2 × 10 –4 [kg·m 2 ] or less
inertia
D B -phase signal N Case grounding
Friction
0.0196 [N·m] or less
E NC P NC
torque
F Z-phase signal R GND
Thermal
Functions at 85 ± 5 [°C]
G Z -phase signal S +5VDC
relay
H U-phase signal U W -phase signal
J U-phase signal T Thermal relay
(Note 1) This is an incremental encoder for the ball screw side.
V Thermal relay
(Note 2) The outline dimensions are the same as for the absolute encoder, and only the nameplate
color differs.
6 - 39

6. Dedicated Options
• OHA 25K-ET
4-ø5.5 slot
hole uniform
PCD 100
Orange
Orange
Caution
plate
Key
position
The designated outer dimension
tolerance is ± 0.5mm.
Cross section B-B
Weight
Moment
of inertia
Friction
torque
Thermal
relay
1.0 [kg] or less
0.2 × 10 –4 [kg·m 2 ] or less
0.0196 [N·m] or less
Functions at 85 ± 5 [°C]
Connector: 97F3102E22-14P (DDK)
Pin
No.
A
B
C
D
Function
A-phase signal
A -phase signal
B-phase signal
B -phase signal
Pin
No.
K
L
Function
RQ signal
RQ signal
E VB (Battery) M NC
F Z-phase signal N Case grounding
G Z -phase signal P NC
H
J
RX signal
RX signal
R
S
T
U
V
GND
+5VDC
Thermal relay
NC
Thermal relay
(Note 1) This is an incremental encoder for the ball screw side.
(Note 2) The outline dimensions are the same as for the absolute encoder, and only the nameplate
color differs.
6 - 40

6. Dedicated Options
6-6-3 Cable connection diagram
CAUTION
Do not mistake the connection when manufacturing the detector cable. Failure to
observe this could lead to runaway.
CNV2 and CNV3 cables for MDS-B/C1 Series can be used.
(1) CNV12, CNV13 cable (L ≤ 20m)
Drive unit connector
Detector connector
Pin No.
6P × 0.3SQ
Pin No.
Signal name
SD (Serial signal)
SD
RQ (Request signal)
RQ
BT (Battery)
+5V
5G
Shield to connector
B24-9
Case grounding
(2) CNV12, CNV13 cable (20 < L ≤ 30m)
Drive unit connector
Detector connector
Pin No.
8P × 0.3SQ
Pin No.
Signal name
SD (Serial signal)
SD
RQ (Request signal)
RQ
BT (Battery)
+5V
5G
Shield to connector
B24-9
Case grounding
The drive unit side connector or the detector connector is same connector as the conventional
CNV2 or CNV3.
6 - 41

6. Dedicated Options
6-6-4 Maintenance
WARNING
1. Wait at least 15 minutes after turning the power OFF before starting
maintenance or inspections. Failure to observe this could lead to electric
shocks.
2. Only qualified persons must carry out the maintenance or inspections.
Failure to observe this could lead to electric shocks. Contact Service Center
or Service Station for repairs or part replacements.
If any fault occurs in the configuration components, carry out service with the following procedures.
(1) Encoder
As a rule, replace the detector with the same type as the detector before exchanging it.
If changes are to be made, always confirm the compatibility and usable combination.
• Confirmation of encoder model
Confirm the encoder model on the nameplate attached to the motor cover, or displayed on the
Servo Monitor screen.
Servo Monitor (SERVO DIAGNOSIS) Screen
[SERVO DIAGNOSIS] 3/3
UNIT TYP
UNIT NO
S/W VER
CNTROL
MOT DT
MAC DT
MOTOR
WORK TIME
ALM HIST
Displays motor side detector model
Displays machine side detector model
If a fault occurs in the motor unit, replace the motor and encoder as a set.
6 - 42

6. Dedicated Options
6-7 Spindle option specification parts
When the orientation specifications or C-axis specifications, etc., are selected as spindle options, the
magnetic sensor (one-point orientation), external encoder (multi-point orientation, C-axis control), and
motor built-in PLG detector can be designated with the spindle delivery specifications.
The Heidenhain detector (special order part) can be used for C-axis control in the same manner as the
motor built-in PLG detector.
The C-axis detector (MBE90K, MHE90K) used with the 200V Class drive unit (MDS-B/C1 Series)
cannot be used.
Correspondence of spindle functions and applicable detectors
Spindle Orientation
C-axis
specifications
Thread Spindle
control Synchronous
cutting synchronous
One-point 4096 points (contour tap control
control control
control)
Detector
Magnetic sensor X – – – – –
External detector
(OSE/RFH-1024)
– X – X X X
External detector
(OSE90K+1024)
– X X X X X
Heidenhain detector – X X Note 2 X Note 2 X X
Motor built-in PLG
detector
Note 1) Simple C-axis.
Note 2) Zero point return valid only for 1:1 gear ratio.
– X X Note 1, 2 X Note 2 X X
CN5
Connect the motor built-in PLG
detector. (Motor side detector)
CN7
Connect the C-axis
(contour) OSE90K+1024
control detector.
(Machine side detector)
CN6
Connect the magnetic sensor or
external OSE/RFH-1024 detector
when using the orientation function.
(Machine side detector)
CN8
Outputs the differential output's short
waveform (ABZ phase) to the NC. The
thread cutting applications or spindle
speed can be viewed with the NC.
Outputs the PLG detector or external
detector signals depending on the
orientation type. Designate with SP037
(spindle function 5).
6 - 43

6. Dedicated Options
6-7-1 Magnetic sensor orientation (one-point orientation)
Prepare the magnetic sensor orientation parts with the following types. When purchasing independently,
always prepare with the required configuration part types.
(1) Preparation type
Type
Model
Tolerable
Combination
speed [r/min] Amplifier Sensor Magnet
Standard MAGSENSOR BKO-C1810H01-3 0 to 6000 H01 H02 H03
High-speed standard MAGSENSOR BKO-C1730H01.2.6 0 to 12000 H01 H02 H06
High-speed small MAGSENSOR BKO-C1730H01.2.9 0 to 12000 H01 H02 H09
MAGSENSOR BKO-C1730H01.2.41 0 to 25000 H01 H02 H41
MAGSENSOR BKO-C1730H01.2.42 0 to 25000 H01 H02 H42
High-speed ring
MAGSENSOR BKO-C1730H01.2.43 0 to 30000 H01 H02 H43
MAGSENSOR BKO-C1730H01.2.44 0 to 30000 H01 H02 H44
Caution) When preparing with independent types, replace the section following the H in the
prepared type with the independent type.
Example: When preparing only the standard magnetic sensor's sensor section, the
type will be MAGSENSOR BKO-C1810H02.
Outline dimensions:
• Amplifier H01
2-ø5.5 hole
Connector (sensor side)
For BKO-C1810H01, R04-R-8F is used.
For BKO-C1730H01, TRC116-21A10-7F is used.
Connector (controller cable side)
Unit side : TRC116-21A10-7M
Cable side : TRC116-12A10-7F10.5
• Sensor H02
Reference notch
+100
Cable length 500 –0
Connector
For BKO-C1810H02, R04-R-8M is used.
For BKO-C1730H02, TRC116-12A10-7M is used.
6 - 44

6. Dedicated Options
• Magnet
Part
No.
Tolerable
speed [r/min]
Outline drawings
Weight: 40 ± 1.5g
H03 0 to 6000
Reference hole
H06 0 to 12000
4-ø4.3 hole
Installation screw: M4
Weight: 14.8 ± 0.7g
2-ø4.3 hole
H09 0 to 12000
H41 0 to 25000
N.P
Case
Cover
Spun ring
RINGFEDER
RFN8006 J×K
Installation screw: M4
4-F screw
Stainless case
SUS-303
H42 0 to 25000
Gap 1±0.1
Sensor
head
Stop position scale
N
2-øG±0.15øH
On circumference
Reference
notch
∗ Polarity (N,S) is indicated on the side wall of cover.
Detection head should be installed so that the reference notch of sensor
head comes on the case side.
H43 0 to 30000
H44
0 to 30000
Magnet
Reference notch
Gap L
G hole
h6
Installation of magnet
Spindle
Case
Cover
Spindle clamping screw
Dimensions
Model A B C D E F G H J × X L
BKO-C1730H41 105 70H7+0.030
–0
BKO-C1730H42 94
60H7+0.030
–0
BKO-C1730H43 78
50H7+0.025
–0
BKO-C1730H44 66
40H7+0.025
–0
DIM IN mm
Weight
(g)
90 28 19 M6×1.0 5 90 70×79 1 1024±4
79 25 17 M5×0.8 5 79 60×68 1 768±4
66 23 15 M5×0.8 5 66 50×57 1 478±4
54 20 13 M4×0.7 5 54 40×45 1 322±4
Caution on installation of H41 to H44
1. Tolerance to shaft dimension should be "h6" on the
part for installing a magnet.
2. 2-øG hole can be used for positioning of spindle and
magnet.
3. Magnet shall be installed as shown to the left.
4. Misalignment between sensor head and magnetic
center line shall be within ±2mm.
5. There is an NS indication on the side of the cover.
Install so that the reference notch on the sensor
head comes to the case side.
6 - 45

6. Dedicated Options
(2) Gap between magnet and sensor
Circumference installation
Horizontal installation
Spindle
Magnet
Face A
Reference
hole
Reference
notch
Min. gap
Direction of
rotation
R
Face A
S
N
Max. gap
Mounting plate
Reference
hole
Reference
notch
Face B
Gap
Spindle
Magnet
Reference
notch
Direction of
rotation
Face B
S
N
R
Reference
hole
Magnet
model
Installation
direction
BKO-C1810H03 BKO-C1730H06 BKO-C1730H09
Circumference
installation
Horizontal
installation
Circumference
installation
Horizontal
installation
Circumference
installation
R (Radius)
Gap mm Gap mm Gap mm
mm Max. value Min. value Max. value Min. value Max. value Min. value
40 11.5±0.5 2.7±0.5 6.0±0.5 10.0±0.5 1.22±0.5 5.0±0.5 6.25±0.5 3.30±0.5
50 9.5±0.5 2.8±0.5 6.0±0.5 8.0±0.5 1.31±0.5 5.0±0.5 6.00±0.5 3.70±0.5
60 8.5±0.5 3.0±0.5 6.0±0.5 7.0±0.5 1.50±0.5 5.0±0.5 5.75±0.5 3.85±0.5
70 8.0±0.5 3.4±0.5 7.0±0.5 2.38±0.5 5.50±0.5 3.87±0.5
(3) Magnet and sensor installation directions
• Install so that the magnet's reference hole and sensor's reference notch are aligned.
(Standard/high-speed standards)
• Install so that the magnet's N pole comes to the left side when the sensor's reference notch is
faced downward. (High-speed compact/high-speed ring)
N
Sensor
S
S
Sensor
N
Magnet
|
Reference notch
Magnet
|
Reference notch
(4) Cautions
(a) Do not apply impacts on the magnet. Do not install strong magnets near the magnet.
(b) Sufficiently clean the surrounding area so that iron chips and cutting chips do not adhere to the
magnet. Demagnetize the round disk before installing.
(c) Securely install the magnet onto the spindle with an M4 screw. Take measures to prevent
screw loosening as required.
(d) Balance the entire spindle rotation with the magnet installed.
(e) Install a magnet that matches the spindle's rotation speed.
(f) When installing the magnet onto a rotating body's plane, set the speed to 6,000r/min or less.
(g) Install so that the center line at the end of the head matches the center of the magnet.
(h) The BKO-C1730 is not an oil-proof product. Make sure that oil does not come in contact with
BNO-C1730 or BKO-C1810.
(i) When connecting to the spindle drive unit, wire so that the effect of noise is suppressed.
6 - 46

6. Dedicated Options
(5) Connecting a magnetic sensor and a drive unit
MDS-CH-SP
Option cable: CNP5S
(Refer to Chapter 6 for details on the cable treatment.)
CN5
CN6
Power cable
U V W
U V W
Option cable: CNP6M
(Refer to Chapter 6 for details on the cable treatment.)
Spindle motor
Magnetic
sensor
Spindle
6 - 47

6. Dedicated Options
6-7-2 Multi-point orientation using encoder (4096-point orientation)
Prepare the encoder orientation parts with the following types. When purchasing independently, always
prepare with the required configuration part types. The encoder is capable of 4096-point multi-point
orientation by multiplying 1024p/rev by four.
(1) Preparation type
Preparation type Tolerable rotation Preparation type Tolerable rotation
OSE1024-3-15-68 6000r/min OSE1024-3-15-68-8 8000 r/min
RFH-1024-22-1M-68 6000r/min RFH-1024-22-1M-68-8 8000 r/min
(2) Encoder specifications
Item Feature OSE1024-3-
15-68
Mechanical
characteristics
for rotation
Mechanical
configuration
Working
conditions
RFH-1024-22-
1M-68
OSE1024-3-
15-68-8
RFH-1024-22-
1M-68-8
Inertia 0.1 × 10 -4 kgm 2 or less 0.1 × 10 -4 kgm 2 or less
Shaft friction torque 0.98Nm or less 0.98Nm or less
Shaft angle acceleration 10 4 rad/s 2 or less 10 4 rad/s 2 or less
Tolerable continuous
rotation speed
Bearing maximum
non-lubrication time
Shaft amplitude
(position 15mm from end)
Tolerable load
(thrust direction/radial direction)
6000r/min
20000Hr / 6000r/min
0.02mm or less
10kg/20kg; Half of value
during operation
8000r/min
20000Hr / 8000r/min
0.02mm or less
10kg/20kg; Half of value
during operation
Weight 1.5kg 1.5kg
Squareness of flange to shaft
Flange matching eccentricity
Working temperature range
Storage temperature range
Humidity range
Vibration resistance
Impact resistance
0.05mm or less
0.05mm or less
–5°C to +55°C
–20°C to +85°C
95%PH
5 to 50Hz, total vibration width 1.5mm, each shaft for 30 min.
294.20m/s 2 (30G)
Use of a flexible coupling is recommended for the coupling of the encoder and spindle shaft.
The following maker's flexible coupling is
recommended.
Manufacturer
Tokushu
Seiko
Eagle
Model Model M1 FCS38A
Encoder
Resonance frequency 1374Hz 3515Hz
Flexible coupling
Opposite encoder
shaft side
Position detection error 0.8×10-3° 1.2×10-3°
Tolerable speed 20000r/min 10000r/min
Core
Mis- deviation
0.7mm 0.16mm
alignment Angle
displacement
1.5° 1.5°
Outline
dimensions
Max. length 74.5mm 33mm
Max.
diameter
ø57mm ø38mm
6 - 48

6. Dedicated Options
(3) Outline dimensions
OSE-1024-3-15-68
Name plate
Detector (1024 pulse/rev)
4-ø5.4 hole
Synchronous feed encoder side
97F3102E20-29P (or equivalent)
A 1chA K 0V
B 1chZ L
C 1chB M
D N 1chA*
E
Case
grounding
P
1chZ*
F R 1chB*
G
S
H +5V T
J
Cross-section BB
Effective depth of key way is 21mm
RFH-1024-22-1M-68
Name plate
Enlarged view of key
1.15 +0.14
–0 2
4-ø5.4 hole
Ø68
Ø16
68
56
5 +0.012
0
Encoder side
MS3102A20-29P
Cable side
MS3106A20-29S
19.5
102
135
20
28
3
33
Ø14.3 0
–0.11
–0.006
Ø15g6 –0.017
Ø50g6 –0.009
–0.025
56
68
Encoder side pin assignment
Pin Name Pin Name
A
C
B
H
A
B
Z
+5V
N
R
P
K
A
B
Z
0V
3 –0.05
–0
Key way dimensions
6 - 49

6. Dedicated Options
(4) Connecting an encoder and a spindle drive unit
MDS-CH-SP
Option cable: CNP5S
(Refer to Chapter 6 for details on the cable treatment.)
CN5
CN6
Power cable
U V W
U V W
Option cable: CNP6A
(Refer to Chapter 6 for details on the cable treatment.)
Orientation
detector
Spindle motor
6 - 50

6. Dedicated Options
6-7-3 Multi-point orientation using motor built-in encoder (4096-point orientation)
A spindle motor with motor built-in encoder with Z phase and PLG detector is required for these
specifications. Zero point return is possible only when the motor and spindle are connected with a
reduction gear ratio of 1:1.
(1) Preparation type
Preparation type
Cable length (Refer to outline drawing)
A
B
TS5276N1170H01 200 ± 10mm 270 ± 10mm
TS5276N1171H02 200 ± 10mm 400 ± 10mm
TS5276N1173H03 200 ± 10mm 600 ± 10mm
TS5276N1174H06 200 ± 10mm 800 ± 20mm
TS5276N1175H05 200 ± 10mm 1500 ± 30mm
TS5276N1179H04 200 ± 10mm 1100 ± 20mm
(2) Encoder specifications
Item Specification Supplement
Power voltage 5VDC ± 5%
Power current Max. 100mA At 25°C
Operation temperature -10 to 80°C
Storage temperature -20 to 110°C Both sensor section and PCB
Humidity (operation/storage) 5 to 95% RH With no dew condensation
Vibration resistance
9.8m/s 2 or less
Item
Output wave number
Output voltage pulse
height value
Vp-p
A, B phase
specifications
Output wave number
Z phase
specifications
0 to 200 Hz
(0 to 12000 r/min)
Supplement
0.54V ± 0.1V Note 1 0.5V ± 0.1V Note 2 25°C, 7.68kHz with 120Ω load resistor
Note 2
Note 1
25°C, 30kHz with 120Ω load resistor
(3) Outline dimensions
Adjustment potentiometer
position display plate
PCB protective cover
Serial No. indicated
on back side
Sensor
Pan head screw
with SW-PW
M5 × 0.8 × 25
Serial No. indicated
Relay connector
Round crimp terminal
for thermal
JST to VD1.25-4
(for 4M screw size)
Protective cover (accessory) 1 pc.
Pan head screw with SW-PW
M5 × 0.8 × 12
Output contactor (Japan AMP)
Housing 178964-6
Pin 175288-2
Accessories
Housing 1782689-6 1 pc.
Contact 1-175217-2 11 pcs.
Relay connector
Detailed drawing of sensor section
(This drawing shows the state before
potting)
Mounting washer
dimensions
Appearance from View C
The combined gears differ according to the spindle motor specifications.
The details must be discussed separately and determined to attain the optimum product specifications.
6 - 51

6. Dedicated Options
(4) Connection of motor built-in PLG detector and spindle drive unit
MDS-CH-SP
Option cable: CNP5S
(Refer to Chapter 6 for details on the cable treatment.)
CN5
Power cable
U V W
U V W
Spindle motor
6 - 52

6. Dedicated Options
6-7-4 Contour control (C axis control) encoder
Prepare the following type of shaft type encoder part for contour control (C axis control).
A 1/1000 degree resolution (multiplied by four inside the unit) can be attained by connecting the
90,000p/rev signal for the C-axis control to the CN7 connector. A 1024p/rev function is also available for
encoder multi-point orientation.
(1) Preparation type
Preparation type
OSE90K+1024 BKO-NC6336H01
(2) Encoder specifications
Tolerable rotation
6000r/min
Item Features OSE90K+1024 BKO-NC6336H01
Mechanical Inertia
0.1 × 10 -4 kgm 2 or less
characteristics Shaft friction torque
0.98Nm or less
for rotation
Shaft angle acceleration
10 5 rad/s 2 or less
Tolerable speed
7.030r/min
Mechanical
configuration
Working
conditions
Bearing maximum non-lubrication
time
Shaft amplitude
(position 15mm from end)
Tolerable load
(thrust direction/radial direction)
Weight
Squareness of flange to shaft
Flange matching eccentricity
Working temperature range
Storage temperature range
Humidity range
Vibration resistance
Impact resistance
20000Hr / 6000r/min
0.02mm or less
10kg/20kg Half of value during operation
2.0kg
0.05mm or less
0.05mm or less
–5°C to +55°C
–20°C to +85°C
95%PH
5 to 50Hz, total vibration width 1.5mm, each shaft for 30 min.
294.20m/s 2 (30G)
Use of a flexible coupling is recommended for the coupling of the encoder and spindle shaft.
The following maker's flexible coupling is recommended.
Encoder
Flexible coupling
Opposite encoder
shaft side
Manufacturer
Tokushu
Seiko
Eagle
Model Model M1 FCS38A
Resonance frequency 1374Hz 3515Hz
Position detection error 0.8×10-3° 1.2×10-3°
Tolerable speed 20000r/min 10000r/min
Core
Mis- deviation
0.7mm 0.16mm
alignment Angle
displacement
1.5° 1.5°
Outline
dimensions
Max. length 74.5mm 33mm
Max.
diameter
ø57mm ø38mm
6 - 53

6. Dedicated Options
(3) Outline drawings
• Encoder OSE90K+1024 BKO-NC6336H01
4-M4 depth 6
Caution plate
Connector
Connector key
Main unit side : MS3102A20-29P
Controller cable side : MS3102A20-29S (The connector on the controller cable side must be
prepared by the user.)
Note 1. The max. encoder speed must be 6000r/min or less.
Note 2. The dimensional tolerance that is not specified is
±0.5mm.
Signal
Generated signals
Remarks
1ch 1024 C/T A • B-phase, A •B -phase
2ch 1 C/T Z-phase • Z -phase
Connect to NC or CN6.
3ch 90000 C/T C • D-phase, C •D -phase
4ch 1 C/T Y-phase • Y •B-phase
Connect to CN7.
Connector pin assignment
Pin Function
A 1ch A-phase
B 2ch Z-phase
C 1ch B-phase
D ——
E Case grounding
F 3ch C-phase
G 3ch D-phase
H +5V DC +5%
–10%
J
0V
Pin
K
L
M
N
P
R
S
T
Function
0V
3ch C -phase
3ch D -phase
1ch A -phase
2ch Z -phase
1ch B -phase
4ch Y-phase
4ch Y-phase
6 - 54

6. Dedicated Options
(4) Connecting an encoder and a spindle drive unit
MDS-CH-SP
Option cable: CNP5S
(Refer to Chapter 6 for details on the cable treatment.)
CN5
CN6
Option cable:
CNP7A
CN7
90000p/rev
Power cable
U V W
U V W
Option cable: CNP76A
1024p/rev
NC-side connection to ENC connector
Option cable: CNP71A
1024p/rev
Encoder for
controlling
C axis
Spindle motor
Supplement
1. The C-axis control function is connected to the CN7 connector.
2. When using both the C-axis control function and orientation function, connect two cables
(two-way cable) from the detector.
3. The orientation signal connected to CN5 or CN6 can be connected to the NC as a differential
output from CN8.
(5) Cable name
CN7 cable
A: Shaft type encoder (OSE90K+1024)
None: No other connection destinations (CN7 only)
1: Connect to CNC encoder connector (two-way cable)
6: Connected to CN6 connector (two-way cable)
6 - 55

6. Dedicated Options
6-7-5 Integrated rotary encoder (Special order part)
Contour (C-axis) control can be carried out using the Heidenhain integrated rotary encoder ERM280
Series. The magnetic memory drum and nonmagnetic sensor are combined in this encoder. This type
can be installed only on the built-in type spindle motor, so the motor specifications must also be
considered. Prepare this rotary encoder after setting the spindle motor specifications.
(1) Preparation type
This rotary encoder is not available from Mitsubishi, and must be directly purchased from
Heidenhain.
(2) Encoder specifications
Type
Output signal
ERM280
1Vp-p
Number of scale lines 1024 1200 2048
Mechanical tolerable speed 18000 r/min 12000 r/min 8000 r/min
Drum Inner diameter D1
ø80mm ø120mm ø180mm
Outer diameter D2 ø128.75mm ø150.88mm ø257.5mm
Contact the encoder maker for details as the specifications are subject to change.
(3) Outline dimensions
Contact: Heidenhain Corporation Japan : http://www.heidenhain.co.,jp
Germany : http://www.heidenhain.de
6 - 56

6. Dedicated Options
6-8 AC reactor
An AC reactor must be installed for each power supply unit. Refer to section "2-6 Connection of AC
reactor" for details on the wiring methods.
6-8-1 Combination with power supply unit
Use the AC reactor and power supply unit with the following combination.
Power supply unit
model
AC reactor model
CH- AL-K
MDS-CH- 7.5k 11k 18.5k 30k 37k 45k 55k 75k
~ CV-75 X
CV-110
CV-150
CV-185
CV-220
CV-260
CV-300
CV-370
CV-450
CV-550
CV-750
X
X
X
X
X
X
X
Caution) The X mark indicates the compatible combinations.
X
X
X
6-8-2 Outline dimension drawings
AC reactor
model
A B C D E G H J K
Weight
[kg]
CH-AL-7.5K 82 --- --- --- --- --- --- --- --- 3.8
CH-AL-11K 75 --- --- --- --- --- --- --- --- 3.3
CH-AL-18.5K 105 155 55 165 130 --- --- --- --- 5.2
CH-AL-30K 110 155 55 165 140 --- --- --- --- 6.0
CH-AL-37K 110 175 70 215 150 --- --- --- --- 9.5
CH-AL-45K 120 175 70 215 160 --- --- --- --- 10.5
CH-AL-55K --- --- --- --- --- 210 200 220 120 11.5
CH-AL-75K --- --- --- --- --- 215 230 250 143 14.0
Terminal screw (M6)
Terminal screw (M6)
Terminal screw (M8)
Name plate
Name plate
Name plate
Groundin
g terminal
4-M6
Installation hole
Protection cover
Groundin
g terminal
4-M6
Installation hole
4-M8
Installation hole
Protection cover
Grounding
terminal
Protection cover
Name plate
Name plate
Name plate
CH-AL-7.5K / CH-AL-11K
CH-AL-18.5K / CH-AL-30K
CH-AL-37K / CH-AL-45K
CH-AL-55K / CH-AL-75K
6 - 57

7. Peripheral Devices
7-1 Selection of wire ................................................................................................................................. 7-2
7-1-1 Example of wires by unit ............................................................................................................. 7-2
7-2 Selection of main circuit breaker and contactor ................................................................................. 7-5
7-2-1 Selection of earth leakage breaker.............................................................................................. 7-5
7-2-2 Selection of no-fuse breaker ....................................................................................................... 7-6
7-2-3 Selection of contactor.................................................................................................................. 7-7
7-3 Control circuit related ......................................................................................................................... 7-8
7-3-1 Circuit protector ........................................................................................................................... 7-8
7-3-2 Fuse protection............................................................................................................................ 7-9
7-3-3 Relays........................................................................................................................................ 7-10
7-3-4 Surge absorber.......................................................................................................................... 7-11
7 - 1

7. Peripheral Devices
7-1 Selection of wire
7-1-1 Example of wires by unit
Selected wires must be able to tolerate rated current of the unit’s terminal to which the wire is connected.
How to calculate tolerable current of an insulated wire or cable is shown in “Tolerable current of electric
cable” (1) of Japanese Cable Makers’ Association Standard (JCS)-168-E (1995), its electric equipment
technical standards or JEAC regulates tolerable current, etc. wire.
When exporting wires, select them according to the related standards of the country or area to export. In
the UL standards, certification conditions are to use wires of 60 o C and 75 o C product. (UL508C)
Wire’s tolerable current is different depending on conditions such as its material, structure, ambient
temperature, etc. Check the tolerable current described in the specification of the wire to use.
Example of wire selections according to each standard is as follows.
(1) 600V vinyl insulated wire (IV wire) 60 o C product
(Example according to IEC/EN60204-1, UL508C)
Terminal
name
TE1
(L1, L2, L3, )
TE2
(L+, L-)
TE3
(L11, L21, L12, L22, MC1)
Unit type mm 2 AWG mm 2 AWG mm 2 AWG
Power MDS-CH-CV-37 2 14
supply MDS-CH-CV-55 2 14
unit MDS-CH-CV-75 2 14
MDS-CH-CV-110 3.5 12
MDS-CH-CV-150 5.5 10
MDS-CH-CV-185 8 8
Same as TE1
MDS-CH-CV-220 14 6
2 14
MDS-CH-CV-260 14 6
MDS-CH-CV-300 22 4
MDS-CH-CV-370 38 2
MDS-CH-CV-450 38 2 TE2-1: Bar enclosed
MDS-CH-CV-550 60 - TE2-2: Same as TE1
MDS-CH-CV-750 --- --- Bar enclosed
Spindle
drive unit
Servo
drive
unit
Servo
drive
unit
(2-axis)
MDS-CH-SP-15 2 14
MDS-CH-SP-37 2 14
MDS-CH-SP-55 2 14
MDS-CH-SP-75 2 14
MDS-CH-SP-110 5.5 10
MDS-CH-SP-150 5.5 10
MDS-CH-SP-185 8 8
MDS-CH-SP-220 8 8
MDS-CH-SP-260 14 6
MDS-CH-SP-300 22 4
MDS-CH-SP-370 38 2
Match with TE2 of
selected power supply unit
MDS-CH-SP-450 38 2 TE2-1: Bar enclosed
MDS-CH-SP-550 38 --- TE2-2: Same as TE1
MDS-CH-SP-750 --- --- Bar enclosed
MDS-CH-V1-05 2 14
MDS-CH-V1-10 2 14
MDS-CH-V1-20 2 14
MDS-CH-V1-35 2 14
MDS-CH-V1-45 2 14
Match with TE2 of
MDS-CH-V1-70 5.5 10 selected power supply unit
MDS-CH-V1-90 5.5 10
MDS-CH-V1-110 5.5 10
MDS-CH-V1-150 5.5 10
MDS-CH-V1-185 8 8
MDS-CH-V2-0505 2 14
MDS-CH-V2-1005 2 14
MDS-CH-V2-1010 2 14
MDS-CH-V2-2010 2 14
MDS-CH-V2-2020 2 14
MDS-CH-V2-3510 2 14
MDS-CH-V2-3520 2 14
MDS-CH-V2-3535 2 14
MDS-CH-V2-4520 2 14
MDS-CH-V2-4535 2 14
Match with TE2 of
selected power supply unit
2 14
2 14
2 14
7 - 2

7. Peripheral Devices
(2) 600V double (heat proof) vinyl insulated wire (HIV wire) 75 o C product
(Example according to IEC/EN60204-1, UL508C)
Terminal
name
TE1
(L1, L2, L3, )
TE2
(L+, L-)
TE3
(L11, L21, L12, L22, MC1)
Unit type mm 2 AWG mm 2 AWG mm 2 AWG
Power MDS-CH-CV-37 2 14
supply MDS-CH-CV-55 2 14
unit MDS-CH-CV-75 2 14
MDS-CH-CV-110 3.5 12
MDS-CH-CV-150 5.5 10
MDS-CH-CV-185 8 8
Same as TE1
MDS-CH-CV-220 8 8
2 14
MDS-CH-CV-260 14 6
MDS-CH-CV-300 14 6
MDS-CH-CV-370 22 4
MDS-CH-CV-450 22 4 TE2-1: Bar enclosed
MDS-CH-CV-550 38 2 TE2-2: Same as TE1
MDS-CH-CV-750 60 - Bar enclosed
Spindle
drive unit
Servo
drive
unit
Servo
drive
unit
(2-axis)
MDS-CH-SP-15 2 14
MDS-CH-SP-37 2 14
MDS-CH-SP-55 2 14
MDS-CH-SP-75 2 14
MDS-CH-SP-110 5.5 10
MDS-CH-SP-150 5.5 10
MDS-CH-SP-185 8 8
MDS-CH-SP-220 8 8
MDS-CH-SP-260 14 6
MDS-CH-SP-300 22 4
MDS-CH-SP-370 22 4
Match with TE2 of
selected power supply unit
MDS-CH-SP-450 38 2 TE2-1: Bar enclosed
MDS-CH-SP-550 38 2 TE2-2: Same as TE1
MDS-CH-SP-750 60 - Bar enclosed
MDS-CH-V1-05 2 14
MDS-CH-V1-10 2 14
MDS-CH-V1-20 2 14
MDS-CH-V1-35 2 14
MDS-CH-V1-45 2 14
Match with TE2 of
MDS-CH-V1-70 5.5 10 selected power supply unit
MDS-CH-V1-90 5.5 10
MDS-CH-V1-110 5.5 10
MDS-CH-V1-150 5.5 10
MDS-CH-V1-185 8 8
MDS-CH-V2-0505 2 14
MDS-CH-V2-1005 2 14
MDS-CH-V2-1010 2 14
MDS-CH-V2-2010 2 14
MDS-CH-V2-2020 2 14
MDS-CH-V2-3510 2 14
MDS-CH-V2-3520 2 14
MDS-CH-V2-3535 2 14
MDS-CH-V2-4520 2 14
MDS-CH-V2-4535 2 14
Match with TE2 of
selected power supply unit
2 14
2 14
2 14
7 - 3

7. Peripheral Devices
(3) 600V bridge polyethylene insulated wire (IC) 105 o C product
(Example according to JEAC8001)
Terminal
name
TE1
(L1, L2, L3, )
TE2
(L+, L-)
TE3
(L11, L21, L12, L22, MC1)
Unit type mm 2 AWG mm 2 AWG mm 2 AWG
Power MDS-CH-CV-37 2 14
supply MDS-CH-CV-55 2 14
unit MDS-CH-CV-75 2 14
MDS-CH-CV-110 2 14
MDS-CH-CV-150 3.5 12
MDS-CH-CV-185 5.5 10
Same as TE1
MDS-CH-CV-220 8 8
1.25~2 16 ~14
MDS-CH-CV-260 14 6
MDS-CH-CV-300 14 6
MDS-CH-CV-370 22 4
MDS-CH-CV-450 22 4 TE2-1: Bar enclosed
MDS-CH-CV-550 38 2 TE2-2: Same as TE1
Spindle
drive unit
Servo
drive
unit
Servo
drive
unit
(2-axis)
MDS-CH-CV-750 38 2 Bar enclosed
MDS-CH-SP-15 2 14
MDS-CH-SP-37 2 14
MDS-CH-SP-55 2 14
MDS-CH-SP-75 2 14
MDS-CH-SP-110 2 14
Match with TE2 of
MDS-CH-SP-150 3.5 12
selected power supply unit
MDS-CH-SP-185 5.5 10
MDS-CH-SP-220 8 8
MDS-CH-SP-260 14 6
MDS-CH-SP-300 14 6
MDS-CH-SP-370 22 4
MDS-CH-SP-450 22 4 TE2-1: Bar enclosed
MDS-CH-SP-550 38 2 TE2-2: Same as TE1
MDS-CH-SP-750 50 - Bar enclosed
MDS-CH-V1-05 2 14
MDS-CH-V1-10 2 14
MDS-CH-V1-20 2 14
MDS-CH-V1-35 2 14
MDS-CH-V1-45 2 14
MDS-CH-V1-70 2 14
MDS-CH-V1-90 3.5 12
MDS-CH-V1-110 5.5 10
MDS-CH-V1-150 5.5 10
MDS-CH-V1-185 8 8
MDS-CH-V2-0505 2 14
MDS-CH-V2-1005 2 14
MDS-CH-V2-1010 2 14
MDS-CH-V2-2010 2 14
MDS-CH-V2-2020 2 14
MDS-CH-V2-3510 2 14
MDS-CH-V2-3520 2 14
MDS-CH-V2-3535 2 14
MDS-CH-V2-4520 2 14
MDS-CH-V2-4535 2 14
Match with TE2 of
selected power supply unit
Match with TE2 of
selected power supply unit
1.25~2 16 ~14
1.25~2 16 ~14
1.25~2 16 ~14
CAUTION
1. Selection conditions follow IEC/EN60204-1, UL508C, JEAC8001.
• Ambient temperature is maximum 40°C.
• Cable installed on walls without ducts or conduits.
To use the wire under conditions other than above, check the standards you
are supposed to follow.
2. The maximum wiring length to the motor is 30m.
If the wiring distance between the drive unit and motor is 20m or longer, use a
thick wire so that the cable voltage drop is 2% or less.
3. Always wire the grounding wire.
7 - 4

7. Peripheral Devices
7-2 Selection of main circuit breaker and contactor
The methods for selecting the breaker and contactor connected to the power supply unit are explained in
this section. Note that the breaker (wiring breaker) must be installed for each power supply unit.
Circuit protection
breaker
Earth leakage
breaker
If an error occurs in the circuit, the power circuit is cut (shut off) immediately to
prevent abnormal overheating or burning of the wiring.
This is also called a no-fuse breaker.
Shuts off the breaker before an earth leakage accident (protects human life) or
fire occurs due to an earth leakage.
7-2-1 Selection of earth leakage breaker
When installing an earth leakage breaker, select the breaker on the following basis to prevent the
breaker from malfunctioning by the higher frequency earth leakage current generated in the servo or
spindle drive unit.
(1) Selection
Obtaining the earth leakage current for all drive units referring to the following table, select an earth
leakage breaker within the “rated non-operation sensitivity current”.
Usually use an earth leakage breaker for inverter products that function at a leakage current within
the commercial frequency range (50 to 60Hz).
If a product sensitive to higher frequencies is used, the breaker could malfunction at a level less
than the maximum earth leakage current value.
Earth leakage current for each unit
Unit Earth leakage current Maximum earth leakage current
MDS- CH -SP-15 to 750 6mA 15mA
MDS- CH -V1-05 to 185 1mA 2mA
MDS- CH -V2-0505 to 4535 1mA 4mA (for two axes)
(Note1) Maximum earth leakage current: Value that considers wiring length and grounding, etc.
(Commercial frequency 50/60Hz)
(Note2) The earth leakage current in the power supply unit side is included in the drive unit side.
(2) Measurement of earth leakage current
When actually measuring the earth leakage current, use a product that is not easily affected by the
higher frequency earth leakage current. The measurement range should be 50 to 60Hz.
POINT
1. The earth leakage current tends to increase as the motor capacity increases.
2. A higher frequency earth leakage current will always be generated because the
inverter circuit in the drive unit switches the transistor at high speed. Always
ground to reduce the higher frequency earth leakage current as much as
possible.
3. An earth leakage current containing higher frequency may reach approx. several
hundreds of mA. According to IEC479-2, this level is not hazardous to the
human body.
7 - 5

7. Peripheral Devices
7-2-2 Selection of no-fuse breaker
Select the breaker selection current that is calculated from the rated output and the nominal input
voltage as in the expression below. And then select the minimum capacity no-fuse breaker whose rated
current meets the breaker selection current.
Breaker selection current [A] =
No-fuse breaker selection current for 380V input [A]
Nominal input voltage [V]
× 380 [V]
Unit type
MDS-DH-CV-
Selection of no-fuse breaker for 380V input [A]
37 55 75 110 150 185 220 260 300 370 450 550 750
Rated output 3.7kW 5.5kW 7.5kW 11kW 15kW 18.5kW 22kW 26kW 30kW 37kW 45kW 55kW 75kW
Breaker selection
8A 12A 16A 24A 33A 40A 48A 56A 65A 80A 98A 119A 163A
current
Recommended
NF50- NF50- NF50- NF50- NF50- NF50- NF50- NF100- NF100- NF100- NF100- NF225- NF225-
breaker
CW3P- CW3P- CW3P- CW3P- CW3P- CW3P- CW3P- CW3P- CW3P- CW3P- CW3P- CW3P- CW3P-
(Mitsubishi Electric
10A 15A 20A 30A 40A 40A 50A 60A 75A 100A 100A 125A 200A
Corp.: option part)
Rated current of the
10A 15A 20A 30A 40A 40A 50A 60A 75A 100A 100A 125A 200A
recommended breaker
Option part: A breaker is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.
(Example)
Select a no-fuse breaker for using the MDS-DH-CV-450 with a 480V nominal input voltage.
Breaker selection current =98/480 x 380 = 77.6 [A]
According to the table above, select “NF100-CW3P-100”.
CAUTION
1. It is dangerous to share a no-fuse breaker for multiple power supply units, so
do not share it. Always install the breakers for each power supply unit.
2. If the control power (L11, L21) must be protected, select according to the
section "7-3-1 Circuit protection".
7 - 6

7. Peripheral Devices
7-2-3 Selection of contactor
Select the contactor selection current that is calculated from the rated output and the nominal input
voltage as in the expression below. And then select the contactor whose conventional free-air thermal
current meets the contactor selection current.
Contactor selection current [A] =
Contactor selection current for 380V input [A]
Nominal input voltage [V]
× 380 [V]
Selection of contactor for 380V input [A]
Unit type
MDS-CH-CV-
37 55 75 110 150 185 220 260 300 370 450 550 750
Rated output 3.7kW 5.5kW 7.5kW 11kW 15kW 18.5kW 22kW 26kW 30kW 37kW 45kW 55kW 75kW
Contactor selection
current 8A 12A 16A 24A 33A 40A 48A 56A 65A 80A 98A 119A 163A
Recommended
contactor
(Mitsubishi Electric
Corp.: option part)
Conventional free-air
thermal current of
the recommended
contactor
S-N12-
AC400V
S-N12-
AC400V
S-N12-
AC400V
S-N21-
AC400V
S-N25-
AC400V
S-N25-
AC400V
S-N25-
AC400V
S-N35-
AC400V
S-N50-
AC400V
S-N50-
AC400V
S-N65- S-N80- S-N150-
AC400V AC400V AC400V
20A 20A 20A 32A 50A 50A 50A 60A 80A 80A 100A 135A 200A
Option part: A breaker is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.
(Example)
Select a contactor for using the MDS-CH-CV-450 with a 480V nominal input voltage.
Contactor selection current = 98/480×380 = 77.6 [A]
According to the table above, select “S-N50-AC400V”.
POINT
1. If the contactor selection current is 20A or less, select the S-N12 product for
the contactor.
2. Select a contactor whose excitation coil does not operate at 15mA or less.
7 - 7

7. Peripheral Devices
7-3 Control circuit related
7-3-1 Circuit protector
This breaker is used to switch the power and to provide overload and short-circuit protection at the
control circuit.
When connecting a circuit protector or breaker to the power input (TE3 terminals L11 and L21) for the
control circuit, use a product that does not trip (incorrectly activate) by a rush current when the power is
turned ON. A circuit protector with inertial delay and an operation delayed type breaker are available to
prevent unnecessary tripping. Select the product to be used according to the machine specifications.
The rush current and rush conductivity time differ according to the power impedance and power ON
timing, so select a product that does not trip even under the conditions listed in the following table.
Rush current: Ip = 18A
Note1)
36.8%
I [A]
Rush conductivity time:
Time to reach 36.8% of rush current; equivalent to breaker
operation characteristics operation time.
t [ms]
Time constant: T =6ms Note2)
Note1) When using MDS-CH-CV-450 to 750, the rush current is selected with rush current in contactor ON (45A).
Note2) When using MDS-CH-CV-450 to 750, the time constant is selected with rush current conductivity time in contactor ON
(450/550: 200ms, 750: 260ms).
POINT
When collectively protecting the control circuit power for multiple units, select a
circuit protector or breaker that satisfies the total sum of the rush current IP. The
largest value is used for the rush conductivity time T.
(Example 1)
Selecting a breaker to be connected to the power supply for the
MDS-CH-CV-550, SP-370, V2-3535 and V1-35 control circuit
Rush current Ip [A] = 45 + 18 + 18 + 18 = 99 [A]
(CV, SP, V2, V1)
Rush conductivity time T [s] = 200 [ms]
← (CV-550 is the maximum)
Refer to the breaker operation characteristics diagram, and select
a breaker with a rated current that does not trip even at the
minimum operation time.
In this case, a current 7-fold the breaker's rated current can be
tolerated at the operation time 0.2[s]. According to the table on the
right, the following applies.
Rated current= 15 [A] × 7-fold = 105 [A].
The breaker's rated current is larger than the rush current 99 [A], so
a breaker with 15[A] rated current can be used.
Select the "NF-30CS-2P-15A" breaker in this case.
Example of breaker (cost efficient model)
Operation time
Operation characteristics
[s]
(NF-30CS)
2.0
1.0
0.5
Maximum
0.2
0.1
Minimum
0.05
500 700 1500 3000 [%]
600 1000 2000
% in respect to rated current
Type
NF-30CP-2P
[Rated current] A
Rated current 3, 5, 10, 15, 20, 30
7 - 8

7. Peripheral Devices
7-3-2 Fuse protection
The fuse of branch-circuit protection must use UL class CC, J or T. In the selection, please consider rush
current and rush conductive time.
Connected total of unit
Selection of branch-circuit protection fuse
Fuse (Class CC)
Wire Size
Rated [V] Current [A] AWG
1 – 4
600
20
5 – 8
35
16 to 14
CAUTION
For continued protection against risk of fire, replace only with same type 600
V, 20 or 35 A (UL CLASS CC) fuse.
7 - 9

7. Peripheral Devices
7-3-3 Relays
Use the following relays for the input/output interface (power supply, external emergency stop function:
CN23 or CN9.)
Interface name
For digital input signal (CN23, etc.)
For digital output signal (CN9)
Input circuit
Selection example
Use a minute signal relay (Example: twin contact) to prevent a contact defect.
OMRON: G2A, G6B type, MY type, LY type
Use a compact relay with rating of 24VDC, 50mA or less.
OMROM: G6B type, MY type
Output circuit
24V
10k
Drive unit
CN9 connector
MPI1
20
33.3k
8
CN9 connector
MPO1 Relay, etc.
Switch
24G
10
Drive unit
18
MPO2
24V
CN23
connector
Switch
3
2k
16
10
Note 1)
MPO3
24G
1
Power supply unit
Note 1) MPO3 is not provided with the MDS-CH-V1/V2.
External contact
ON conditions
External contact
OFF conditions
18VDC to 25.2VDC
9mA or more
4VDC or less
2mA or less
Output voltage 24VDC ±5%
Tolerable output
current Io
50mA or less
7 - 10

7. Peripheral Devices
7-3-4 Surge absorber
When using magnetic brakes, a surge absorber must be installed to protect the relay contact and brakes.
Commonly a varistor is used.
(1) Necessity of surge absorber
When the state of the motor's magnetic brakes changes from energized (brakes open) to nonenergized
(brakes applied), a large voltage (electromotive voltage) is generated in the coil. This can
cause the power unit to fail, and can shorten the life of the relay contacts, etc. A surge absorber
must be installed to suppress this electromotive voltage.
Without surge absorber
With varistor installed
Current
Current
Voltage
24Vdc
t
Voltage
24Vdc
t
t
t
Several
hundred V
Electromotive
voltage
Brake operation
delay
Varistor voltage
Caution
A voltage is applied on he coils while
the surge absorber (varistor) is
adsorbing the energy, so the brake
operation time will be delayed.
(2) Selection of varistor
When a varistor is installed in parallel with the coil, the surge voltage can be adsorbed as heat and
the electromotive voltage can be suppressed to approximately the same level as the varistor
voltage. If the varistor voltage is low, the energy consumed as heat increases, so allow for the
current passed to the coil during braking and the contact open/close frequency when selecting the
varistor. When using a relay for motor breaking, the brake operation time will be delayed if the
varistor voltage is extremely low. Always confirm the operation with an actual machine.
Servo drive unit
CN20
3
External emergency stop
1
Power
Varistor
Brake coil
7 - 11

7. Peripheral Devices
Select a varistor with the following or equivalent specifications. To prevent short-circuiting, attach a
flame resistant insulation tube, etc., onto the leads as shown in the following outline dimension drawing.
Applying a 24VDC voltage onto the coil with CN20 connector
Tolerable circuit
voltage
V 1mA
Rating
Surge current
withstand level
@8/20us (A)
Energy withstand
level
(J)
Maximum
average
pulse
power
Max. limit
voltage
V 20A
Electrostatic
capacity
(reference
value)
Varistor
voltage
rating
(range)
AC (V) DC (V) 1 time 2 times 10/1000us 2ms (W) (V) (pF) (V)
75 100 3500 2500 20 14.5 0.4 200 1400
120
(108 to 132)
140 180 3500 2500 39 27.5 0.4 360 410
220
(198 to 242)
Selection condition : When ON/OFF frequency is 10 times/min or less, and exciting current is 2A or less
Supplement : Normally use a product with 120V varistor voltage. If there is no allowance for the brake
operation time, use the 220V product.
If the varistor voltage exceeds 200V, the specifications of the relay in the unit will be
exceeded, and the contact life will be shortened.
(These parts cannot be directly ordered from Mitsubishi Electric Corp.)
• ERZV10D121, ERZV10D221 (Matsushita Electric Industrial Co., Ltd.)
• TNR10V121K, TNR-12G221K (MARCON Electronics Co., Ltd.)
ERZV10D121, ERZV10D221
11.5
[Unit: mm]
20.0
Insulation tube
7 - 12

8. Troubleshooting
8-1 Points of caution and confirmation..................................................................................................... 8-2
8-2 Troubleshooting at start up ................................................................................................................ 8-3
8-3 Protective functions list of units.......................................................................................................... 8-4
8-3-1 List of alarms ............................................................................................................................... 8-4
8-3-2 List of warnings ......................................................................................................................... 8-16
8-3-3 Protection functions and resetting methods.............................................................................. 8-17
8-3-4 Parameter numbers during initial parameter error.................................................................... 8-19
8-3-5 Troubleshooting......................................................................................................................... 8-20
8-4 Spindle system troubleshooting ....................................................................................................... 8-39
8-4-1 Introduction................................................................................................................................ 8-39
8-4-2 First step.................................................................................................................................... 8-39
8-4-3 Second step .............................................................................................................................. 8-40
8-4-4 When there is no alarm or warning ........................................................................................... 8-41
8 - 1

8. Troubleshooting
8-1 Points of caution and confirmation
If an error occurs in the servo drive unit or spindle drive unit, the warning or alarm will occur. When a
warning or alarm occurs, check the state while observing the following points, and inspect or remedy the
unit according to the details given in this section.
1. What is the alarm code display?
2. Can the error or trouble be repeated? (Check alarm history)
3. Is the motor and servo drive unit temperature and ambient temperature normal?
4. Are the servo drive unit, control unit and motor grounded?
5. Was the unit accelerating, decelerating or running at a set speed? What was the speed?
6. Is there any difference during forward and backward run?
7. Was there a momentary power failure?
8. Did the trouble occur during a specific operation or command?
9. At what frequency does the trouble occur?
10. Is a load applied or removed?
11. Has the drive unit been replaced, parts replaced or emergency measures taken?
12. How many years has the unit been operating?
13. Is the power supply voltage normal? Does the state change greatly according to the time band?
F1 (flicker)
F + axis No.
37 (flicker)
Alarm No.
F1 (flicker)
F + axis No.
37 (flicker)
Alarm No.
Not lit
LED display during servo alarm or spindle alarm
F1
F + axis No.
9F
Warning No.
F1
F + axis No.
9F
Warning No.
Not lit
LED display during servo warning or spindle warning
CAUTION
1. This power supply unit uses a large capacity electrolytic capacitor. When the
CHARGE lamp on the front of the power supply unit is lit, voltage is still
present at the PN terminal (TE2). Do not touch the terminal block in this state.
2. Before replacing the unit, etc., always confirm that there is no voltage at the
PN terminal (TE2) with a tester or wait at least 15 minutes after turning the
main power OFF.
3. The conductivity in the unit cannot be checked.
4. Do not carry out a megger test as the unit could be damaged.
8 - 2

8. Troubleshooting
8-2 Troubleshooting at start up
If the CNC system does not start up correctly and a system error occurs when the CNC power is turned
ON, the servo drive unit or spindle drive unit may not have been started up correctly.
Confirm the LED display on each unit, and take measures according to this section.
LED
display
AA
Ab
AC
Ad
AE
Symptom Cause of occurrence Investigation method Remedy
Initial communication with
the CNC was not
completed correctly.
Initial communication with
the CNC was not carried
out.
During parameter
transmission request
During parameter
conversion request
The drive unit axis No. setting
is incorrect.
Is there any other drive unit that has the
same axis No. set?
The CNC setting is incorrect. Is the No. of CNC controlled axes
correct?
Communication with CNC is
incorrect.
The axis is not used, the
setting is for use inhibiting.
Communication with CNC is
incorrect.
Communication with CNC is
incorrect.
Communication with CNC is
incorrect.
Unit initialization standby Communication with CNC is
incorrect.
b[ ] READY OFF
C[ ] SERVO OFF
Is the connector (CN1A, CN1B)
disconnected?
Is the cable broken?
Check the conductivity with a tester.
Is the axis setting rotary switch set to "7"
to "F"?
Is the connector (CN1A, CN1B)
disconnected?
Is the cable broken?
Check the conductivity with a tester
Refer to the remedies for "Ab"
d[ ] SERVO ON Drive operation preparation completed (The drive unit is normal)
9[ ] WARNING Drive unit is incorrect.
E[ ] WARNING Drive unit is incorrect.
F[ ] Control axis No.
(n = axis No.)
Set correctly.
Set correctly.
Connect correctly.
Replace the cable.
Set correctly.
Connect correctly.
Replace the cable.
Check with the warning No. for the target unit.
E6: Control axis being removed
E7: CNC emergency stop Remove the cause
8 - 3

8. Troubleshooting
8-3 Protective functions list of units
8-3-1 List of alarms
When an alarm occurs, the servo drive unit will make the motor stop by the deceleration control or
dynamic brake. The spindle drive unit will coast to a stop or will decelerate to a stop. At the same time,
the alarm No. will appear on the NC monitor screen and with the LEDs on the front of the drive unit.
Check the alarm No., and remove the cause of the alarm by following this list.
No. Name Details
11 Axis selection
error
The rotary switches are set
to the same value.
Otherwise, the switches
are set to an illegal value.
Cause of
occurrence
Axis No. setting is
incorrect.
Investigation method
Check the axis-No. setting for each unit.
Remedy
Set correctly.
12 Memory error 1 An error was detected in a
memory IC or feedback IC
by self-check to be made
during the unit power ON.
13 Software
processing
error 1
14 Software
processing
error 2
16 Magnetic pole
position
detection error
17 A/D converter
error
Software operation
sequence error or
operation timing error
[Also detected while the
control axis is removed.]
An error was detected in
the current processing
circuit.
Starting of the IPM spindle
was commanded before
positioning the magnetic
poles.
CPU peripheral
circuit error
CPU peripheral
circuit error
CPU peripheral
circuit error
Automatic
adjustment has not
been completed.
An error was detected in CPU peripheral
the A/D converter for circuit error
current detection.
[Detected at power ON and
7s after ready OFF]
18 Motor side Initial communication with
detector, initial the detector was not
communication possible.
error
[Also detected when the
control axis is installed.]
1A Machine side
detector, initial
communication
error
1B Machine side
detector,
CPU error 1
Initial communication with
the detector cannot be
performed in the system
that uses OHA25K-ET or
high-speed serial detector
as the machine side
detector. (Refer to the
detector alarms list.)
In the high-speed serial
detector connected with
the machine side, an error
was detected in the data
stored in an EEPROM.
(Refer to the detector
alarms list.)
The detector input
connector is
disconnected.
The detector cable
is broken.
Detector fault
Drive unit input
circuit fault
The detector input
connector is
disconnected.
The detector cable
is broken.
Detector fault
The unit input
circuit is broken.
The parameters are
set incorrectly.
Check the repeatability.
Check the grounding state and ambient
temperature.
Check the repeatability.
Check the grounding state and ambient
temperature.
Check the repeatability.
Check the grounding state and ambient
temperature.
Check SP205 = 0: Incomplete/
1: Completed
Replace the unit.
Improve the ambient
environment.
Replace the unit.
Improve the ambient
environment.
Replace the unit.
Improve the ambient
environment.
Carry out automatic
adjustment
Check whether the unit has been replaced. Carry out automatic
adjustment
Check the repeatability.
Replace the unit.
(Occurs each time the power is turned ON)
Check the grounding state and ambient
temperature.
Check the connector (CN2) connection.
Check the cable connection.
Replace with the cable for another axis and
check the repeatability.
Exchange the detector and drive unit for
those of another axis and check the
repeatability. (Pinpoint the cause)
Check the connector (CN3) connection.
Check the cable connection.
Replace with the cable for another axis and
check the repeatability.
Exchange the detector and drive unit for
those of another axis and check the
repeatability. (Pinpoint the cause)
Improve the ambient
environment.
Connect correctly.
Replace the detector
cable.
Replace the parts on
the side that caused
the alarm.
Connect correctly.
Replace the detector
cable.
Replace the parts on
the side that caused
the alarm.
The serial detector bit (SP034/bit8 =1) is Set correctly.
valid even through the serial detector is not
connected.
Refer to No. "1A".
8 - 4

8. Troubleshooting
No. Name Details
1C Machine side
detector,
EEPROM/LED
abnormality
1D Machine side
detector, data
error
1E Machine side
detector,
memory error
In the linear scale
connected with the
machine side, an error in
an EEPROM was detected.
Otherwise, in the
high-speed serial detector
connected with the
machine side, a
deteriorated LED was
detected.
In the high-speed serial
detector connected with
the machine side, an error
(a position error within one
rotation) was detected.
In the linear scale
connected with the
machine side, an error on
ROM or RAM was
detected.
Otherwise, in the
high-speed serial detector
connected with the
machine side, the built-in
thermal protector
functioned.
1F Machine side In the high-speed serial
detector, detector connected with
communication the machine side,
error
communication with the
detector stopped.
20 Motor side
detector, No
signal 1
21 Machine side
detector, No
signal 2
An error was detected in A,
B, Z-phase of the motor
side detector, or U, V,
W-phase.
An error was detected in
the A, B, Z-phase in a servo
closed-loop system.
Otherwise, an error was
detected in the A, B,
Z-phase in the spindle
encoder.
22 LSI error LSI operation error
[Also detected while the
control axis is removed.]
Cause of
occurrence
The detector input
connector is
disconnected.
The detector cable
is broken.
Detector fault
Drive unit input
circuit fault
Z phase is not input
(Only spindle)
The spindle
parameter setting
is incorrect.
The detector input
connector is
disconnected.
The detector cable
is broken.
Detector fault
Drive unit input
circuit fault
The spindle
parameter setting
is incorrect.
Unit fault
Investigation method
Refer to No. "1A".
Check the connector (CN2) connection.
Check the cable connection.
Replace with the cable for another axis and
check the repeatability.
Exchange the detector and drive unit for
those of another axis and check the
repeatability. (Pinpoint the cause)
Check whether the Z phase is output within
3 rotations after orientation is started
Check that SP037 bit-8 is set to "1".
Check the connector connected with the
detector.
Check the cable connection.
Replace with the cable for another axis and
check the repeatability.
Exchange the detector and drive unit for
those of another axis and check the
repeatability. (Pinpoint the cause)
Check that SP037 bit-8 is set to "0".
Check the repeatability.
Check the grounding state and ambient
temperature.
Remedy
Connect correctly.
Replace the detector
cable.
Replace the parts on
the side that caused
the alarm.
Replace the PLG.
Set correctly.
Connect correctly.
Replace the detector
cable.
Replace the parts on
the side that caused
the alarm.
Set correctly.
Replace the unit.
Improve the ambient
environment.
8 - 5

8. Troubleshooting
No. Name Details
23 Excessive
speed
deflection 1
Occurs when the difference
between the speed
command and motor speed
is large.
Occurs during acceleration/
deceleration.
Occurs during cutting.
Cause of
occurrence
The detector cable
is broken.
The spindle
parameter setting
is incorrect.
Measure the
forward run →
reverse run time,
and reset SP055.
Check the load
rate.
24 Ground fault A motor cable ground fault Drive unit fault
was detected.
Motor fault
(Detected after emergency
stop have been released.)
25 Absolute
position lost
26 Unusable axis
error
27 Machine side
detector, CPU
error 2
28 Machine side
detector,
overspeed
29 Machine side
detector,
absolute
position data
error
2A Machine side
detector,
incremental
position data
error
2B Motor side
detector, CPU
error 1
2C Motor side
detector,
EEPROM/LED
error
The absolute position in the
detector was lost.
A power module error
occurred in the axis set as
the unusable axis "F".
Battery voltage
drop
The communication
cable is incorrectly
connected or is
disconnected.
The battery line in
the detector cable
or communication
cable is broken.
The detector cable
was disconnected
when the power
was turned OFF.
2-axis unit
dedicated alarm
An error was detected in The detector is
the CPU for the linear scale faulty.
or serial detector.
The linear scale speed
became to 45m/s or more
at the power ON.
A frequency signal
exceeding the tolerable
speed was detected.
In the absolute position
linear scale, an error was
detected in the circuit.
In the incremental position
linear scale, an error was
detected in the circuit.
Detector internal circuit
error
EEPROM error was
detected in the motor side
linear scale. Also, the LED
in the detector has
deteriorated.
The detector is
faulty.
Linear scale fault
Linear scale fault
Detector fault
Detector fault (life)
Investigation method
Replace with the cable for another axis and
check the repeatability.
Check SP034, 040, 055, 257 and
following.
If higher than 12 seconds, increase the
value.
If less than 12 seconds, check the load
rate.
If higher than 120%, reduce the load.
Is the cable sheath damaged?
Check the battery voltage with a test.
(Occurs at 3 V or less)
Check that the wiring between the unit and
battery unit is correct.
Check the conductivity with a tester.
After alarm 18 has occurred, correctly
connect the detector cable and turn the
power ON again.
Check the repeatability.
Check the grounding state and ambient
temperature.
Check the repeatability.
Check the grounding state and ambient
temperature.
Check the repeatability.
Check the grounding state and ambient
temperature.
Check the repeatability.
Check the grounding state and ambient
temperature.
Check the repeatability.
Check the grounding state and ambient
temperature.
Check the repeatability.
Check the ambient environment.
Check the repeatability.
Check the ambient environment.
Remedy
Replace the detector
cable.
Set correctly.
Set correctly.
Reduce the load.
Reduce the load.
Replace the unit.
Replace the motor.
Replace the battery
Connect correctly.
Replace or correctly
wire the cable.
Replace the unit.
Improve the ambient
environment.
Replace the detector.
Improve the ambient
environment.
Replace the detector.
Improve the ambient
environment.
Replace the detector.
Improve the ambient
environment.
Replace the detector.
Improve the ambient
environment.
Replace the detector.
Review the ambient
environment.
Replace the detector.
Review the ambient
environment.
CAUTION
Contact your nearest Service Center when an alarm not shown above occurs.
8 - 6

8. Troubleshooting
No. Name Details
2D Motor side
detector, data
error
2E Motor side
detector,
memory error
Cause of
occurrence
Detector position data error Detector fault
ROM/RAM error was
detected in the motor side
linear scale.
2F Motor side Communication with the
detector, detector was cut off or
communication there was an error in the
error
received data.
31 Overspeed The motor speed exceeded
the tolerable value.
32 Power module
overcurrent
The power module
overcurrent protection
function activated.
The detector input
connector is
disconnected.
The detector cable
is broken.
Detector fault
Drive unit input
circuit fault
Cable noise
Investigation method
Check the repeatability.
Check the ambient environment.
Alarm 18 occurs when the power is turned
ON.
Check the connector (CN2) connection.
Alarm 18 occurs when the power is turned
ON.
Exchange the detector and drive unit for
those of another axis and check the
repeatability. (Pinpoint the cause)
Is the cable shielded?
Is the cable wired in the same conduit as
the motor power line?
Incorrect grounding Are the motor grounding and drive unit
grounding grounded separately?
The axis
specification
parameter (rapid)
setting is incorrect.
The parameter
setting is incorrect.
The speed is
overshooting.
Detector fault
The motor power
line (U, V, W
phase) has a short
circuit or ground
fault.
Drive unit fault
Motor fault
The parameter
setting is incorrect.
The power voltage
is low.
Occurs during
cutting.
Occurs before
movement.
Check the machine specifications.
Check SV001 (PC1), SV002 (PC2), SV018
(PIT), SV025 (MTYP)
SP017 (TSP) or SP193 (SPECT)
Maximum speed: (SP017) × 1.15
Check Slimit.
Is the speed loop gain too low?
Is the acceleration/deceleration time
constant too short causing the current to
be limited?
Is the current limit value too low?
Does the alarm occur when the power is
turned ON?
Change with another axis and check the
repeatability.
Does the alarm occur simultaneously with
ready ON?
Check the motor cable and connection.
Check the conductivity between the
cables.
Check the setting of SP034, SP040,
SP055 and SP257 and following.
Is the power voltage 323V or less during
the acceleration/deceleration?
If higher than 120%, reduce the load.
Occurs before READY ON.
Remedy
Replace the
detector.
Review the ambient
environment.
Connect correctly.
Replace the detector
cable.
Replace the parts on
the side that caused
the alarm.
Review the cable
wiring and shield.
Ground the motor
and drive unit at one
point.
Set correctly.
Set correctly.
Adjust the gain.
Increase the
acceleration/decele-r
ation time constant.
Adjust the limit value.
Replace the
detector.
• Replace the cable
• Correct the
connection
Replace the unit.
Replace the motor.
Set correctly.
Review the power
supply capacity.
Reduce the load.
Replace the unit.
CAUTION
Contact your nearest Service Center when an alarm not shown above occurs.
8 - 7

8. Troubleshooting
No. Name Details
33 Overvoltage The PN bus voltage
exceeded 630V.
[Also detected while
the control axis is
removed.]
34 Communication
or CRC error
between NC and
drive unit
35 NC command
error
There was an error in
the communication
data from the CNC.
[Also detected while
the control axis is
removed.]
This alarm occurs if
the CRC error is
detected 20 or more
times within 910ms
while the error
detection is valid.
The movement
command data sent
from the CNC was
excessive.
36 Communication The communication
or transmission from the CNC was cut
error between NC off.
and drive unit [Also detected while
the control axis is
removed.]
37 Initial parameter
error
The parameter setting
is incorrect.
Check the error
parameter No. If there
are several error
parameters, the most
recent No. is output.
[Also detected when
the control axis is
installed.]
Cause of
occurrence
The power voltage is
high. (550V or more)
Broken wire to the
terminal block.
The power voltage
waveform distortion
is great.
The communication
cable is broken.
The communication
cable connection is
incorrect.
The terminal
connector fault
Battery unit fault
The grounding is
incomplete.
Investigation method
Occurs at power ON.
Check the power voltage with a tester.
The TE2 (L+/L–) wiring is faulty or
disconnected.
Using a synchroscope, check for
abnormalities in the power voltage.
Check the conductivity with a tester.
Are the communication pair cables
connected in reverse?
Is the terminal connector dislocated?
Replace the terminal connector.
Is the battery unit dislocated?
Replace the battery unit.
Check the grounding state.
The communication Check the connectors (CN1A, CN1B)
cable is disconnected (Including other axes)
Incorrect grounding
Drive unit fault
CNC unit fault
NC program is
incorrect.
The parameter is not
within the setting
range.
The HEX setting
parameter setting is
incorrect.
The electronic gears’
constant is
overflowing.
ABS was set for an
INC detector
connected axis.
The drive unit and
motor capacities do
not match.
The SHG control
option setting is not
provided.
The adaptive filter
option setting is not
provided.
Are the motor grounding and drive unit
grounding grounded separately?
Change the connection with that for
another drive unit and find the cause.
Check the program and CNC specifications.
Also refer to No. "34".
Also refer to No. "34".
Check the setting range of the parameter
that the error No. have been displayed.
Check SV025, SV027 and SV036.
Check parameters SV001, SV002 and
SV018.
Check parameters SV017.
Check the corresponding drive unit model
for each servomotor in “10. Specifications”.
Check parameters SV057 and SV058.
Check parameter SV027 bit F.
Remedy
Review the power
supply.
Rewire.
Review the power,
and suppress the
waveform distortion.
Replace the cable.
Check the
connection.
Replace the
connector.
Check the
connection.
Replace the battery.
Correctly ground.
Connect correctly.
Ground the motor
and drive unit at one
point.
Replace the unit.
Replace the CNC
unit.
Check CNC unit.
Set correctly.
Set correctly.
If the settings are
OK, consult with
Mitsubishi.
Set correctly or
replace the detector.
Replace with the
correct combination.
Set correctly.
Set correctly.
8 - 8

8. Troubleshooting
No. Name Details
38 Communication
or protocol error 1
between NC and
drive unit
39 Communication
or protocol error 2
between NC and
drive unit
3A Overcurrent
There was an error in
the communication data
from the CNC.
[Also detected while the
control axis is removed.]
There was an error in
the communication data
from the CNC.
[Also detected while the
control axis is removed.]
The servomotor drive
current is excessive.
The spindle unit's output
current was excessive
(during motor rotation
command).
An excessive current
flowed during the initial
magnetic pole
estimation for the IPM
spindle motor. (When
emergency stop was
released after power
ON.)
Cause of
occurrence
The communication
cable is broken.
The communication
cable connection is
incorrect.
The grounding is
incomplete.
Drive unit fault
CNC unit fault
The communication
cable is broken.
The communication
cable connection is
incorrect.
The grounding is
incomplete.
Drive unit fault.
CNC unit fault
The speed loop
gain (VGN1) is
excessive.
The current loop
gain setting is
incorrect.
The inductive
voltage
compensation gain
is high.
The motor power
line connection is
incorrect.
The detector cable
connection is
incorrect.
The grounding is
incomplete.
Drive unit fault
Detector fault
The spindle unit's
capacity is
insufficient.
An excessive motor
load continued
The motor power
line connection is
incorrect.
The spindle unit's
capacity is
insufficient.
The motor power
line connection is
incorrect.
The parameter
setting is incorrect.
Investigation method
Check the conductivity with a tester.
Are the communication pair cables
connected in reverse?
Check the grounding state.
Change the connection with that for
another drive unit and find the cause.
Check the conductivity with a tester.
Are the communication pair cables
connected in reverse?
Check the grounding state.
Change the connection with that for
another drive unit and find the cause.
Is VGN1 higher than the standard value in
respect to the load inertia?
(The standard VGN1 differs according to
the motor. Check “Chapter 4” again.)
Is vibration occurring?
Check the current loop gain.
Is the current FB exceeding the current
command during
acceleration/deceleration?
Remedy
Replace the cable.
Correctly ground.
Replace the unit.
Replace the CNC
unit.
Replace the cable
Correctly ground.
Replace the unit.
Replace the CNC
unit.
Lower VGN1.
Set the standard
value.
Lower EC.
Is the U, V, W phase connection incorrect? Connect correctly.
The line is connected to the motor of
another axis.
The detector cable is connected to another
axis.
Measure the resistance value between
drive unit FG and the ground, or the
potential difference during operation.
Check the repeatability.
Check parameter SP039 and the unit
capacity.
View the load meter to see whether the
motor's maximum output is exceeded.
Connect correctly.
Securely ground.
Replace the unit.
Replace the
detector.
Set correctly.
Reduce the motor
load.
Is the U, V, W phase connection incorrect? Connect correctly.
The low-speed and high-speed coils are
interchanged.
Check parameter SP039 and the unit
capacity.
Set correctly.
Is the U, V, W phase connection incorrect? Connect correctly.
The low-speed and high-speed coils are
interchanged.
Check parameter SP268.
Consult with
Mitsubishi if the
setting is correct.
8 - 9

8. Troubleshooting
No. Name Details Cause of occurrence Investigation method Remedy
3B Power module
overheat
3C Regenerative
circuit error
3D Spindle speed
lock
3E Spindle speed
overrun
3F Speed excessive
deflection 2
40 Detector
changeover unit,
changeover error
41 Detector
changeover unit,
communication
error
The power module's
temperature
protection function
activated.
An error was detected
in the regenerative
transistor or resistor.
Check the time when
the unit power is
turned ON again.
Check the innerpanel
temperature.
The cooling fan is
stopped.
Check the operation
state.
Regenerative resistor
error
The regenerative
transistor is damaged
by a short circuit.
The power supply
voltage is high.
(260V or more)
Assuring more than 10 seconds for the If the fan is rotating,
time from when the power is turned OFF continue to use.
till when it is turned ON, turn the unit
power ON again, and check the rotation
speed of the fan.
Check whether the inner-panel
temperature exceeds 55°C.
Check whether the cooling fan at the
back of the unit is stopped.
Lower the innerpanel
temperature.
Replace the unit or
fan.
Change the program.
Check whether continuous operation
exceeding the rating is being carried out. Review the pattern.
Also refer to No. "32".
Check the resistance value of the
regenerative resistor.
(Refer to “Chapter 6” for the resistance
values.)
Is the regenerative resistor burned?
Check the power supply voltage that
occurs at ready OFF with a tester.
The motor maximum The parameter setting Check the parameters.
torque command is incorrect.
continued for longer
than the time set with
sp239 while rotating at
45 or higher.
The motor rotated The parameter setting Check the parameters.
more than 10° when a is incorrect.
stop command was
issued while
continuously rotating,
exceeding 112.5% of
the designated value.
A state exceeding the The parameter setting Check the parameters.
deflection detection is incorrect.
range (sp238)
continued for longer
than the detection time
(sp239).
The changeover
signal order is
incorrect.
Communication with
the TK unit is not
correct.
42 Feedback error 1 A feedback pulse skip
or Z-phase error was
detected in the
detector.
The detector's number
of pulses and the
parameter setting
value did not match
when positioning the
IPM spindle motor's
magnetic poles.
Check TK unit wiring. Is the connector or wire loose?
The communication
cable is broken.
Detector fault
Check the continuity with a tester.
Check the repeatability.
Check the ambient environment.
Replace the
regenerative resistor.
Replace the amplifier.
Review the power
supply.
Set correctly.
Set correctly.
Set correctly.
Connect correctly.
Replace the cable.
Replace the detector.
The cable is broken. Check for broken wires, and check A, B, Replace the cable.
Z phase waveform.
The detector is
incorrect.
The parameter setting
is incorrect.
43 Feedback error 2 Excessive difference Detector fault
was detected in the
feedback amount
between the motor
side detector and the
machine side detector.
Otherwise a feedback
IC error was detected.
Check the detector's number of pulses. Replace the detector.
Check parameter SP263/327.
Check the repeatability.
Check the ambient environment.
Set correctly.
Replace the detector.
Review the ambient
environment.
8 - 10

8. Troubleshooting
No. Name Details Cause of occurrence Investigation method Remedy
44 C-axis
When using a coil Check the wiring.
changeover alarm changeover motor, the
C-axis was controlled
with the H coil.
46 Motor overheat Overheating of the The ambient
motor was detected. temperature is high.
The detector or The motor load is
motor's built-in thermal large.
protector activated.
(Activated at 100°C)
48 Scale CPU error The CPU in the
absolute position
linear scale is not
operating correctly.
49 Scale overspeed A speed exceeding
45m/s was detected
when the power was
turned ON.
4A Absolute position
detection circuit
error
An error was detected
in the scale or scale's
circuit.
4B Incremental An error was detected
position detection in the scale or scale's
circuit error circuit.
4C Current error
during magnetic
pole detection
A current was not
detected during initial
magnetic pole
estimation of the IPM
spindle motor.
(When emergency
stop was released
after power ON.)
Detector fault
Is the connector or connection
disconnected?
Check the ambient temperature.
Has the power of the drive unit turned
OFF and performed the forced reset to
release the overload alarm (50)?
Is the load too large?
Check the repeatability.
Check the ambient environment.
Correctly connect.
Improve the ambient
environment.
Review the operation
pattern.
Replace the detector.
The cable is broken. Check the connection Replace the cable.
Detector fault
Detector fault
Detector fault
Check the repeatability.
Check the ambient environment.
Check the repeatability.
Check the ambient environment.
Check the repeatability.
Check the ambient environment.
The spindle unit's Check parameter SP039 and the unit
capacity is insufficient. capacity.
The motor power line
connection is
incorrect.
The parameter setting
is incorrect.
Is the U, V, W phase connection
incorrect?
The low-speed and high-speed coils are
interchanged.
The motor power line is cut off
Check parameter SP268.
50 Overload 1 An excessive load was The motor capacity is Review the motor capacity selection.
applied for longer than insufficient.
the set time.
The brake cannot be
released.
An excessive force is
being applied from the
machine.
The parameter setting
is incorrect.
Check the brake operation.
• Check the brake relay.
• Check the connector (CN3)
connection.
Check the load current on the NC servo
monitor and find the machine load.
Is the ball screw bent?
Has the load exceeded the rating?
Is there interference?
Are SV021 and SV022 set to the
standard values?
Check the setting of SP034, SP040,
SP055, SP063, SP064, SP257 and
following.
The spindle is locked. Check whether the load meter is
exceeding the motor's maximum output
in the locked state.
Replace the detector.
Replace the detector.
Replace the detector.
Set correctly.
Connect correctly.
Consult with
Mitsubishi if the
setting is correct.
Change the motor or
drive unit capacity.
Repair the faulty
section.
Replace the faulty
section in the
machine.
Check the structure.
Set the standard
values.
Unlock the spindle.
CAUTION
Contact your nearest Service Center when an alarm not shown above occurs.
8 - 11

8. Troubleshooting
Cause of
No. Name Details
occurrence
51 Overload 2 An excessive load The machine was
was applied for longer collided with.
than the set time.
52 Excessive error 1 The actual motor
position and model
position difference
was excessive.
The position tracking
error exceeds the
specified value.
53 Excessive error 2 The actual motor
position and model
position difference
was excessive.
The motor cable
connection is
incorrect.
Detector fault
The detector
connection is
incorrect.
The speed loop gain
(VGN1) is small.
The motor load is too
large.
The motor is
demagnetized.
The excessive error
detection width is too
small.
Occurs during
orientation.
Occurs during spindle
synchronization.
Occurs during
synchronous tapping.
The input voltage is
low.
The motor cable
connection is
incorrect.
Detector fault
The detector
connection is
incorrect.
The excessive error
detection width is too
small.
54 Excessive error 3 When an excessive Excessive error 1
error 1 is detected, no
motor current flows.
55 External
emergency stop
error
There is no contactor
shutoff command
even after 30sec.
Have elapsed from
the input of the
external emergency
stop.
[Also detected while
the control axis is
removed.]
Investigation method
Visually check whether there was a
collision with the machine.
Is there interference?
Remedy
Check the cause of
the collision.
Check the structure.
Check the motor power line (U, V, W). Connect correctly.
• Is the U, V, W phase order correct?
• The power line is not connected.
• Is the cable connected to the motor for
another axis?
Change the detector for that of another
axis and check the repeatability.
Check the connection.
Is the motor speed fluctuating?
Is the acceleration/deceleration time
constant too short?
The current limit value is too low and a
sufficient torque is not output.
The motor brake cannot be released?
Remove the motor, and check that it
rotates smoothly. (CNC motor)
Replace the detector.
Connect correctly.
Adjust the gain.
Adjust the
parameters.
Repair the brake
circuit.
Replace the motor.
Check the SV023 (SV053) setting value. Adjust the
parameters.
Check SP097 (SPECO), and double the
SP001 and SP00 values, or half the
SP006 value.
Check SP177 (SPECS) bit 5.
Check SP010 (PGS).
Check SP193 (SPECT) bit 5.
Check SP009 (PGT).
Is the input voltage 323V or less, or near
323V?
Is the input voltage unstable?
Set correctly.
Set correctly.
Set correctly.
Check the power
supply.
Increase the acceleration/deceleration
time constant.
Check the motor power line (U, V, W). Connect correctly.
• Is the U, V, W phase order correct?
• Is the cable connected to the motor for
another axis?
Change the detector for that of another
axis and check the repeatability.
Check the connection.
Check the SV026 setting value.
The CNC has stopped Check the NC parameters.
the follow up function.
Reinvestigate the causes of excessive
error 1.
Main emergency stop Check the emergency stop input and
(sequence input) error sequence program.
The parameter setting
is incorrect.
Check the setting of the SV036 external
emergency stop selection.
Replace the detector.
Connect correctly.
Adjust the parameter.
Set correctly.
Improve the
emergency stop
sequence.
Set correctly.
8 - 12

8. Troubleshooting
No. Name Details
58 Collision
detection 1
G00
59 Collision
detection 1
G01
5A Collision
detection 2
5C Orientation
feedback error
5D Speed monitor/
input mismatch
5E Speed monitor/
feedback error
61 Power module
overcurrent
During rapid traverse
(G0), the disturbance
torque exceeded the
collision detection
level.
Cause of
occurrence
Investigation method
The machine collided. Check the machine and workpiece
state.
The machine friction
increased.
The detection level is
too low.
The machine was stopped for a long
time.
This can occur easily in the morning
during the winter.
Set the detection level to approx. 1.5
times the maximum disturbance torque,
and provide an allowance.
During cutting The machine collided. Check the machine and workpiece
traverse (G1), the
state.
disturbance torque The detection level is Check the maximum cutting load.
exceeded the collision too low.
detection level.
The command torque
reached the motor’s
maximum torque.
The machine collided. Check the machine and workpiece
state.
The machine friction
increased.
The acceleration/
deceleration time
constant is too small.
The machine was stopped for a long
time.
This can occur easily in the morning
during the winter.
Check the current during acceleration.
Remedy
Check the program.
Check the overtravel
setting.
Check the
repeatability.
Readjust the
detection level.
Same as ALM58.
Set to above the
maximum cutting
load.
Same as ALM58.
Check the
repeatability.
Increase the
acceleration/deceleration
time constant.
The time constant cannot be increased. Set to detection
ignoral.
The pulse miss value Checking of the
during orientation stop parameters failed.
Check the SP114 (OPER) setting. Set correctly.
exceeded the
parameter setting
The cable is broken. Check the encoder cable and shield. Change the wiring.
value.
The DI input for speed
monitor differs from
the state from the NC.
The specified speed
was exceeded while
monitoring the speed.
The power supply unit
IPM detected an
overcurrent.
62 Frequency error The input power The input power is
frequency is not within faulty.
the specifications.
67 Phase failure A fault occurred in the The input power is
3-phase input voltage. faulty.
The cable is broken. Check the DI input wiring. Correctly wire.
The unit is faulty. Check the repeatability. Replace the unit.
Check the investigation items for No. "2F".
The unit is faulty. Check the repeatability. Replace the unit.
Check the frequency input to the power
supply unit.
Check the voltage input to the power
supply unit.
Improve the power
related matters.
Improve the power
related matters.
68 Watch dog The power supply unit The unit is faulty. Check the repeatability. Replace the unit.
cannot operate The grounding is
correctly.
incomplete.
Check the grounding state.
Correctly ground.
69 Ground fault There is a ground fault
in the motor or unit
6A External
contactor melting
The external
contactor has melted.
The motor is faulty.
Oil entered the motor
The unit is faulty.
The contactor has
melted.
The parameter setting
is incorrect.
The unit is faulty.
The insulation across the motor UVW
terminals and ground is 100kΩ or less
A large amount of oil has contacted the
motor or cannon connector
Replace the motor
and cable.
Clean the connector,
and study measures
to prevent oil
adhesion
The insulation across the unit UVW Replace the drive unit.
terminals and ground is less than 100kΩ
The insulation across the motor UVW
terminals and ground is 100kΩ or more
Check the contactor contact melting.
Replace the power
supply unit.
Replace the
contactor.
Check SV036 (PTYP)
Correct the parameter
(Set only for the axis actually controlling setting.
the contactor.)
A short-circuit or infinite value was
detected when measured across P(N)-
L1, 2, 3 with a tester.
Replace the unit.
8 - 13

8. Troubleshooting
No. Name Details
6C Main circuit error Main circuit capacitor
charging error
6E Memory error
6F Power supply
error
71 Instantaneous
power failure/
external
emergency stop
An error was detected
in the power supply
unit’s internal circuit.
An error was found in
the power supply
unit’s A/D converter,
or emergency stop
from the NC cannot
be detected.
75 Overvoltage The voltage across
L+/L– exceeded
820VDC.
76 External
emergency stop
setting error
77 Power module
overheat
7F Power reboot
request
80 HR unit,
connection error
81 HR unit, HSS
error
83 HR unit, scale
judgment error
84 HR unit, CPU
error
Cause of
occurrence
Investigation method
Remedy
The unit is faulty. Check the repeatability. Replace the unit.
The unit is faulty.
The power failed The power supply
instantly for 55ms or connection is poor.
more.
The power supply
The external contactor state is poor.
turned OFF.
Check the repeatability.
Check the working environment.
Replace the unit.
The unit is faulty. Check the repeatability. Replace the unit.
Is the connector or connection
disconnected?
Has lightning struck (the weather
changed)?
The power related matters are poor in
the working area.
The drive unit is faulty. Check the repeatability.
The grounding is
incomplete.
Check the grounding state.
Correctly connect.
Improve the power
related matters.
Replace the unit.
Correctly ground.
The power supply The parameter setting Check SW1 and SV036/SP041 (PTYP). Set correctly.
unit’s setting rotary is incorrect.
switch and parameters
do not match.
The power module's Check the time when
temperature protection the unit power is
function activated. turned ON again.
Start software
selection error
E 2 ROM data error
The connection to the
MDS-B-HR unit is
incorrect.
An error occurred in
the communication
between the MDS-B-
HR unit and scale.
The MDS-B-HR unit
could not judge the
connected linear
scale.
The MDS-B-HR unit
CPU is faulty.
Check the inner-panel
temperature.
The cooling fan is
stopped.
Check the operation
state.
The power supply
connection is poor.
The power supply
connection is poor.
HR unit is faulty.
The grounding is
incomplete.
The power supply
connection is poor.
Assuring more than 10 seconds for the If the fan is rotating,
time from when the power is turned OFF continue to use.
till when it is turned ON, turn the unit
power ON again, and check the rotation
speed of the fan.
Check whether the inner-panel
temperature exceeds 55°C.
Check whether the cooling fan at the
back of the unit is stopped.
Lower the inner-panel
temperature.
Replace the unit or
fan.
Check whether continuous operation Change the program.
exceeding the rating is being carried out.
Refer to the investigation methods for alarm No. "75"
Is the connector or connection
disconnected?
Is the connector or connection
disconnected?
The error is not eliminated even when
the wiring is changed with that for
another unit.
Check the grounding state.
Is the connector or connection
disconnected?
Correctly connect.
Correctly connect.
Replace the HR unit.
Correctly ground.
Correctly connect.
Detector fault Check the repeatability. Replace the detector.
HR unit is faulty.
Drive unit fault
The grounding is
incomplete.
Check the repeatability.
The error is not eliminated even when
the wiring is changed with that for
another unit.
The error is eliminated when the wiring
is changed with that for another unit.
Check the grounding state.
Replace the HR unit.
Replace the HR unit.
Replace the drive unit.
Correctly ground.
8 - 14

8. Troubleshooting
No. Name Details
85 HR unit, data
error
86 HR unit, magnetic
pole error
Cause of
occurrence
An error was found in HR unit is faulty.
the MDS-B-HR unit's
analog interpolation
data.
The grounding is
incomplete.
An error was found in
the magnetic pole
data for the MDS-B-
HR unit.
88 Watch dog The drive unit did not
operate correctly.
[Also detected while
the control axis is
removed.]
89 HR unit,
connection error
(SUB)
Investigation method
Check the repeatability.
The error is not eliminated even when
the wiring is changed with that for
another unit.
Check the grounding state.
Remedy
Replace the HR unit.
Replace the HR unit.
Correctly ground.
HR unit is faulty. Check the repeatability. Replace the HR unit.
The grounding is
incomplete.
Check the grounding state.
Correctly ground.
Drive unit fault Check the repeatability. Replace the unit.
The grounding is
incomplete.
The connection to the The power supply
MDS-B-HR unit on the connection is poor.
SUB side is incorrect.
Check the grounding state.
Is the connector or connection
disconnected?
Ground correctly.
Correctly connect.
8A HR unit, HSS
connection error
(SUB)
8C HR unit, scale
recognition error
(SUB)
8D HR unit, CPU
error (SUB)
8E HR unit, data
error (SUB)
A communication error The power supply
was detected between connection is poor.
the MDS-B-HR unit on
the SUB side and
scale.
HR unit is faulty.
The MDS-B-HR unit
on the SUB side did
not recognized the
connected linear
scale.
The CPU of MDS-B-
HR unit on the SUB
side does not operate
properly.
The grounding is
incomplete.
The power supply
connection is poor.
Is the connector or connection
disconnected?
The error is not eliminated even when
the wiring is changed with that for
another unit.
Check the grounding state.
Is the connector or connection
disconnected?
Correctly connect.
Replace the HR unit.
Correctly ground.
Correctly connect.
Detector fault Check the repeatability. Replace the detector.
HR unit is faulty.
Drive unit is faulty.
The grounding is
incomplete.
Check the repeatability.
The error is not eliminated even when
the wiring is changed with that for
another unit.
The error is eliminated when the wiring
is changed with that for another unit.
Check the grounding state.
Replace the HR unit.
Replace the HR unit.
Replace the drive unit.
Correctly ground.
In MDS-B-HR unit on HR unit is faulty. Check the repeatability. Replace the HR unit.
the SUB side, an error
was detected in the
analog data. The grounding is
incomplete.
Check the grounding state.
Correctly ground.
8F HR unit, magnetic
polarity error
(SUB)
In MDS-B-HR unit on
the SUB side, an error
was detected in the
magnetic polarity The grounding is
data.
incomplete.
HR unit is faulty. Check the repeatability. Replace the HR unit.
Check the grounding state.
Correctly ground.
8 - 15

8. Troubleshooting
8-3-2 List of warnings
When a warning occurs, a warning No. will appear on the NC monitor screen and with the LEDs on the
front of the drive unit. Check the warning No., and remove the cause of the warning by following this list.
No. Name Details Cause of occurrence Investigation method Remedy
90 Detector, initial
communication
error
91 Detector,
communication
error
92 Detector,
protocol error
93 Initial absolute
position
fluctuation
96 MP scale
feedback error
97 MP scale offset
error
9E Absolute position
detector, multirotation
counter
error
9F Battery voltage
drop
E1 Overload
warning
E3 Absolute position
counter warning
E4 Parameter error
warning
E6 Control axis
removal warning
E7 CNC emergency
stop
E9 Instantaneous
power failure
warning
EA External
emergency stop
Initial communication with the Detector error
absolute position linear scale
cannot be performed.
The absolute position data could
not be transmitted correctly from
the OHA type detector or lowspeed
absolute position linear
scale.
There was an illegal format data
in the serial data.
The position data fluctuated The vertical axis or slant axis
when creating the initial absolute dropped when the CNC
position.
power was turned ON.
There is an excessive difference
in the feedback amount between
the motor side detector and the
MP scale.
An error was detected in the data
to be read by CNC power ON.
There was an error in the data of
the multi-rotation counter in the
detector.
The battery voltage dropped.
The axis moved due to an
external force when the CNC
power was turned ON.
Refer to the MP scale specifications.
Check the repeatability
Check the installation and
wiring lead-in methods.
Check the state of the axis
when the CNC power was
turned ON.
Replace the
detector.
Change the
wiring path.
Repair the fault
section.
Detector fault Check the repeatability. Replace the
detector.
Battery life The battery life is approx. 5
years. (This will change
according to the usage
state.)
To protect the absolute position
data, do not turn OFF the control
power (L11, L21) to the servo The battery connector (in the
drive unit when this warning is drive unit) is disconnected.
detected.
The battery line in the
detector cable is broken.
The load level reached 80% or
more.
A deviation was detected in the
absolute position data and
relative position data
A parameter exceeding the
setting range was set.
Control axis removal was
commanded.
(Status display)
Emergency stop was input from
the CNC. (Status display)
The power was shut off for 25ms
or more, 50ms or less
External emergency stop (CN23
connector input) was input.
Refer to the alarm No. 50 "Overload 1".
There is an error in the
detector's multi-rotation data
The parameter setting range
is not within the range.
Control axis removal was
input from the CNC unit
sequence.
The CNC emergency stop
has been input.
An alarm has occurred with
another axis.
The terminal resistor or
battery unit connector is
disconnected.
Open the panel at the top of
the drive unit and check.
Check the conductivity with
a tester.
Replace the
battery.
Connect
correctly.
Replace the
cable.
Check the movement of the Replace the
multi-rotation data (Rn) from detector.
the NC monitor screen.
Check the parameter
setting conditions.
Set correctly.
The control axis removal has been input
correctly.
The CNC emergency stop has been input
correctly.
Has an alarm occurred with
another axis?
Check the connection of
the CNC communication
line cable (CN1A, CN1B).
Refer to the alarm No. 71 "Instantaneous power failure".
Reset the alarm
in the other axis
to cancel this
warning.
Connect
correctly.
Only CN23 of the power supply unit was input without inputting the CNC unit
emergency stop.
8 - 16

8. Troubleshooting
8-3-3 Protection functions and resetting methods
The following alarm and warning indications are provided as functions to protect the unit.
The methods for resetting the alarms and warnings include turning the power OFF and ON, and using
resetting operations.
No.
Name
Deceleration
method
Reset
method
11 Axis selection error Dynamic AR
12 Memory error 1 AR
13 Software processing error 1 Dynamic PR
14 Software processing error 2 Dynamic PR
15 Memory error 2 Initial error AR
16 Magnetic pole position detection error PR
17 A/D converter error Dynamic PR
18
Motor side detector, initial
communication error
Initial error
PR
1A
Machine side detector, initial
communication error
PR
1B Machine side detector, CPU error 1
PR
1C
Machine side detector, EEPROM/LED
abnormality
PR
1D Machine side detector, data error
PR
1E Machine side detector, memory error
PR
1F
Machine side detector, communication
error
PR
20 Motor side detector, No signal 1 PR
21 Machine side detector, No signal 2 PR
22 LSI error Dynamic AR
23 Excessive speed deflection 1 PR
24 Ground fault Dynamic PR
25 Absolute position lost Initial error AR
26 Unusable axis error PR
27 Machine side detector, CPU error 2 PR
28 Machine side detector, overspeed PR
29
Machine side detector, absolute
position error
PR
2A
Machine side detector, incremental
position error
PR
2B Motor side detector, CPU error 1 Initial error AR
2C
Motor side detector, EEPROM/LED
error
Deceleration control PR
2D Motor side detector, data error Dynamic PR
2F
Motor side detector, serial detector
communication error
Dynamic
PR
31 Overspeed Deceleration control PR
32 Power module overcurrent Dynamic PR
33 Overvoltage Dynamic PR
34
Communication or CRC error between
NC and drive unit
Deceleration control PR
35 NC command error Deceleration control PR
36
Communication or transmission error
between NC and drive unit
Deceleration control PR
37 Initial parameter error Initial error PR
38
Communication or protocol error 1
between NC and drive unit
Deceleration control PR
39
Communication or protocol error 2
between NC and drive unit
Deceleration control PR
3A Overcurrent Dynamic PR
3B Power module overheat
PR
3C Regeneration circuit error Dynamic AR
3D Spindle speed Lock
PR
3E Spindle speed overrun
PR
3F Speed excessive deflection 2
PR
40
Detector changeover unit, changeover
error
PR
41
Detector changeover unit,
communication error
PR
42 Feedback error 1 PR
Explanation
8 - 17

8. Troubleshooting
No.
Name
Deceleration
method
Reset
method
43 Feedback error 2 PR
44 C-axis changeover alarm NR
46
Motor overheat
Thermal error
Deceleration control NR
4C Initial magnetic pole detection
NR
4E NC command mode error
NR
Explanation
NR and PR reset cannot be carried out when the motor is
overheated.
50 Overload 1 Deceleration control NR
NR or PR reset is not possible when the load level is 50%
or more. Do not reset (AR) forcibly by turning off the drive
unit. If AR is carried out at 50% or more, 80% will be set at
the next time the power is turned ON.
51 Overload 2 Dynamic NR
52 Excessive error 1 NR
53 Excessive error 2 Dynamic NR
54 Excessive error 3 NR
55 External emergency stop error Dynamic NR Forcibly turn the contactor OFF.
58 Collision detection 1 G00 Deceleration control NR
59 Collision detection 1 G01 Deceleration control NR
5A Collision detection 2 Deceleration control NR
5C Orientation feedback error
NR
5D Speed monitor/input mismatch
PR
5E Speed monitor/feedback error
PR
After detecting a collision, the axis will decelerate and
stop at 80% of the motor's maximum torque or the servo
parameter current limit value (torque limit value),
whichever is smaller.
5F External contactor melting At ready ON NR Detected at the rising edge of ready ON
61 Power module overcurrent PR
62 Frequency error PR
67 Phase failure PR
68 Watch dog AR
69 Ground fault PR
6A External contactor melting
PR
6C Main circuit error
PR
6E Memory error
AR
6F Power supply error
AR
71
Instantaneous power failure/external
emergency stop
NR
75 Overvoltage NR
Reset the alarm after the L+/L– voltage has dropped
below the power voltage (after five or more minutes have
elapsed).
76 External emergency stop setting error AR
77 Power module overheat AR
7F Power reboot request
AR
88 Watch dog Dynamic AR
90 Detector, initial communication error PR
91 Detector, communication error ∗
92 Detector, protocol error ∗
93 Initial absolute position fluctuation PR
96 MP scale feedback error ∗
97 MP scale offset error
The motor will not
PR
9E
Absolute position detector, multirotation
counter error
stop.
∗
9F Battery voltage drop
∗
E0 Over-regeneration warning
∗
E1 Overload warning
∗
E3 Absolute position counter warning
∗
E4 Parameter error warning
∗
E7 CNC emergency stop Dynamic ∗
E9 Instantaneous power failure warning
NR
When the instantaneous warning occur, use NR reset.
The motor will not
The state will also be reset automatically after 5 minutes.
stop.
EA External emergency stop
∗
• Deceleration method
Deceleration control : The motor will be decelerated and controlled with the time constant set in the servo parameter (SV056).
Dynamic
: If dynamic brake stop is selected with the servo parameters (SV055, 056), the motor will stop with the dynamic brakes.
• Reset method ∗ : The unit will be automatically reset when the state in which the warning occurred is canceled.
NR : Reset with the CNC reset button. Resetting is also possible with the PR or AR resetting conditions.
PR : Reset by turning the CNC power ON again. Resetting is also possible with the AR resetting conditions.
Resetting while the control axis is removed is possible with the CNC unit reset button. (Note that alarm 32, 37 and warning 93
are excluded.)
AR : Reset by turning the power supply unit on servo/spindle drive unit power ON again.
8 - 18

8. Troubleshooting
8-3-4 Parameter numbers during initial parameter error
If an initial parameter error (alarm 37) occurs, the alarm and the number of the parameter that may be
set incorrectly will appear on the CNC Diagnosis screen. The method of displaying this information on
the CNC differs according to the CNC Series and screen size, so refer to the Instruction Manual and
Operation Manual for each Series.
S02 Initial parameter error [ ] [ ] [ ] [ ] [ ]
Axis name display
Parameter number
If a number larger than the parameter number is displayed for the servo drive unit, the alarm is occurring
for several related parameters. Refer to the following table, and correctly set the parameters.
No.
Details
69 The CNC setting maximum rapid traverse rate value is incorrect.
The CNC system software may be illegal. Turn the power ON again.
71 The CNC setting maximum cutting speed setting value is incorrect.
The CNC system software may be illegal. Turn the power ON again.
101 The following settings are overflowing.
• Electronic gears
• Position loop gain
• Speed feedback
102 The absolute position detection parameter is valid when OSE104 and
OSE105 are connected.
103 The servo option is not available.
The closed loop or dual feedback control function is set.
Related
parameter
NC setting
rapid
NC setting
clamp
SV001, SV002
SV003, SV018
SV019, SV020
SV049
SV017, SV025
SV025, SV017
104 The servo option is not available. The SHG control function is set. SV057, SV058
105 The servo option is not available. The adaptive filter function is set. SV027
106 The servo option is not available. The MP scale absolute position SV017
function is set.
107 The dual-axis control is executed. Or, the rotary motor setting is SV017
applied. The high-speed processing mode function is dedicated for the
linear motor single-axis control.
108 The valid/invalid setting of the 4th or 5th notch filter is changed from
the initial setting.
SV087, SV088
8 - 19

8. Troubleshooting
8-3-5 Troubleshooting
Follow this section to troubleshoot the main alarms that occur during start up or while the machine is
operating. Also, refer to the explanations in section "8-3-1 List of alarms".
[Alarm/warning check timing]
f1: When servo drive unit power is turned ON
f2: When CNC power supply is turned ON (emergency stop ON)
f3: During normal operation (servo ON)
f4: During axis removal (ready ON, servo OFF)
(Note) Note that warning "93" could occur even when the axis is reinstalled after removal.
Alarm No.
12
Memory error:
Error in drive unit memory IC (SRAM, FROM)
Investigation details Investigation results Remedies
1 Check the repeatability.
2 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
13
The error is always repeated.
The state returns to normal once, but
occurs sometimes thereafter.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 2.
Software process error:
The driver's software processing time did not end within the specified time, or an illegal
IT process was carried out.
Alarm check timing
f1 f2 f3 f4
◦ – – –
Replace the drive unit.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Check whether the servo software
version was changed recently.
2 Check the repeatability.
3 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
14
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
The version was changed.
Try replacing with the drive unit containing
the original software version.
The version was not changed. Investigate item 2.
The error is always repeated.
Replace the drive unit.
The state returns to normal once, but Investigate item 3.
occurs sometimes thereafter.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Software processing error 2:
The current loop process, of the driver software processing times, did not end within
the specified time.
Replace the drive unit.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Check whether the servo software
version was changed recently.
2 Check the repeatability.
3 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
The version was changed.
Try replacing with the drive unit containing
the original software version.
The version was not changed. Investigate item 2.
The error is always repeated.
Replace the drive unit.
The state returns to normal once, but Investigate item 3.
occurs sometimes thereafter.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
8 - 20

8. Troubleshooting
Alarm No.
17
A/D converter error:
There is an error in the drive unit's A/D converter.
Investigation details Investigation results Remedies
1 Check the repeatability.
2 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
18
The error is always repeated.
The state returns to normal once, but
occurs sometimes thereafter.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 2.
Initial communication error:
Initial communication was not possible with the detector in the system using a highspeed
serial detector for the motor side.
Alarm check timing
f1 f2 f3 f4
– ◦ – –
Replace the drive unit.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Check the servo parameter (SV025) The value is not set correctly.
Correctly set VO205.
setting value. The value is set correctly. Investigate item 2.
2 Wiggle the connectors by hand to check
whether the detector connectors (drive
unit side and detector side) are
disconnected.
The connector is disconnected (or loose).
Correctly install.
The connector is not disconnected. Investigate item 3.
3 Turn the power OFF, and check the There is a connection fault.
Replace the detector cable.
detector cable connection with a tester. The connection is normal. Investigate item 4.
4 Connect to another normal axis driver,
and check whether the fault is on the
driver side or detector side.
5 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
1A
The alarm is on the driver side.
Replace the drive unit.
The alarm is on the detector side. Investigate item 5.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Serial detector initial communication error (SUB):
Initial communication was not possible with the detector in the system using a
high-speed serial detector for the machine side.
Alarm check timing
f1 f2 f3 f4
– ◦ – –
Replace the detector.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Check the alarm No. "18" items.
Alarm No.
1B
CPU error (SUB):
An error was detected in the data stored in the EEPROM of an absolute position linear
scale connected to the machine side.
Investigation details Investigation results Remedies
1 Check whether the connector on the
drive unit side or scale side is
disconnected.
The connector is disconnected (or loose).
Correctly install.
The connector is not disconnected. Investigate item 2.
2 Turn the power OFF, and check the There is a connection fault.
Replace the detector cable.
detector cable connection with a tester. The connection is normal. Investigate item 3.
3 Connect to another normal axis driver,
and check whether the fault is on the
drive unit side or scale side.
4 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
The alarm is on the driver side.
The alarm is on the absolute position
linear scale side.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 4.
Alarm check timing
f1 f2 f3 f4
– ◦ – –
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Replace the absolute position linear scale.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
8 - 21

8. Troubleshooting
Alarm No.
1C
EEPROM/LED error (SUB):
An error was detected in the EEPROM of an absolute position linear position linear
scale connected to the machine side.
Investigation details Investigation results Remedies
1 Check the alarm No. "1B" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
1D
Data error (SUB):
An error was detected within one rotation position of an absolute position linear
position linear scale connected to the machine side.
Investigation details Investigation results Remedies
1 Check the alarm No. "1B" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
1E
ROM, RAM/thermal error (SUB):
A ROM/RAM error was detected in the absolute position linear scale connected to the
machine side.
Investigation details Investigation results Remedies
1 Check the alarm No. "1B" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
1F
Serial detector communication error (SUB)
Communication was cut off with the detector in the absolute position scale connected
to the machine side.
Investigation details Investigation results Remedies
1 Check items 2 and following for alarm
No. "18".
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
27
Scale CPU error (SUB):
The CPU of the absolute position linear scale connected to the machine side is not
operating correctly.
Investigation details Investigation results Remedies
1 Wiggle the connectors by hand to check
whether the absolute position linear
scale connectors (unit side and scale
side) are disconnected.
The connector is disconnected (or loose).
Correctly install.
The connector is not disconnected. Investigate item 2.
2 Turn the power OFF, and check the There is a connection fault.
Replace the detector cable.
detector cable connection with a tester. The connection is normal. Investigate item 3.
3 Connect to another normal axis unit, and
check whether the fault is on the unit side
or scale side.
4 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
The alarm is on the unit side.
The alarm is on the absolute position
linear scale side.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 4.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Replace the absolute position linear scale.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
CAUTION
Do not drive the motor with a drive unit having a capacity exceeding the motor
capacity. The motor could be demagnetized.
8 - 22

8. Troubleshooting
Alarm No.
28
Scale overspeed (SUB):
The absolute position liner scale connected to the machine side detected a speed of
45m/sec or more when the CNC power was turned ON.
Investigation details Investigation results Remedies
1 Check that the system is an absolute
position linear scale specification
system.
2 Check whether the machine was
operating when the alarm occurred.
3 Wiggle the connectors by hand to check
whether the absolute position linear
scale connectors (unit side and scale
side) are disconnected.
The system is not the absolute position
linear scale specifications.
The system is the absolute position
linear scale specifications.
Alarm check timing
f1 f2 f3 f4
– ◦ – –
Correctly set the SV025: MTYP parameter.
Investigate item 2.
The machine was operating.
Check the motor's mechanical brakes and
machine system.
The machine was not operating. Investigate item 3.
The connector is disconnected (or loose). Correctly install.
The connector is not disconnected. Investigate item 4.
4 Turn the power OFF, and check the There is a connection fault.
Replace the detector cable.
detector cable connection with a tester. The connection is normal. Investigate item 5.
5 Connect to another normal axis unit, and
check whether the fault is on the unit side
or detector side.
6 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
29
The alarm is on the unit side.
The alarm is on the absolute position
linear scale side.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 6.
Absolute position detection circuit error (SUB):
An error was detected in the scale or scale side circuit of the absolute position linear
scale connected to the machine side.
Replace the absolute position linear scale.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Check the alarm No. "28" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
2A
Incremental position detection circuit error (SUB):
A speed exceeding the max. movement speed of the absolute position linear scale
connected to the machine side was detected.
Investigation details Investigation results Remedies
1 Check whether the machine was The machine was operating. Investigate item 3.
operating when the alarm occurred. The machine was not operating. Investigate item 2.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
2 Check whether the operation is normal at The machine was operating. Investigate item 3.
low-speeds. The machine was not operating. Check the precautions for turning the
power ON.
• Wiring check
• Parameter check
3 Wiggle the connectors by hand to check The connector is disconnected (or loose). Correctly install.
whether the absolute position linear
scale connectors (unit side and scale
side) are disconnected.
The connector is not disconnected. Investigate item 4.
4 Turn the power OFF, and check the There is a connection fault.
Replace the detector cable.
detector cable connection with a tester. The connection is normal. Investigate item 5.
5 Connect to another normal axis unit, and
check whether the fault is on the unit side
or detector side.
6 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
The alarm is on the unit side.
The alarm is on the absolute position
linear scale side.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 6.
Replace the motor (the absolute position
linear scale).
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
8 - 23

8. Troubleshooting
Alarm No.
2B
CPU error:
An error was detected in the data stored in the EEPROM of an absolute position linear
scale connected to the motor side.
Investigation details Investigation results Remedies
1 Check items 3 and following for alarm
No. "2A".
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
2C
EEPROM/LED error:
An error was detected in the EEPROM of an absolute position linear position linear
scale connected to the motor side.
Investigation details Investigation results Remedies
1 Check items 3 and following for alarm
No. "2A".
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
2D
Date error:
An error was detected within one rotation position of an absolute position linear
position linear scale connected to the motor side.
Investigation details Investigation results Remedies
1 Check items 3 and following for alarm
No. "2A".
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
2E
ROM/RAM error:
A ROM/RAM error was detected in the absolute position linear scale connected to the
motor side.
Investigation details Investigation results Remedies
1 Check items 3 and following for alarm
No. "2A".
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
2F
Serial detector communication error:
Communication was cut off with detector of the absolute position linear scale connected
to the motor side.
Investigation details Investigation results Remedies
1 Check items 2 and following for alarm
No. "18".
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
31
Overspeed:
Movement was carried out at a speed exceeding the linear motor's tolerable speed.
Investigation details Investigation results Remedies
1 Check whether the machine was The machine was operating. Investigate item 4.
operating when the alarm occurred. The machine was not operating. Investigate item 2.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
2 Check whether the operation is normal at The machine was operating. Investigate item 3.
low-speeds. The machine was not operating. Check the wiring and the parameters at
power ON.
3 Check whether the rapid traverse speed The speed is too high.
Lower the speed to below the rated speed.
is too high. The speed is set below the rated speed. Investigate item 4.
4 Check whether the acceleration/
deceleration constant is too small.
• Check the current value display on the
Servo Monitor screen.
5 Check items 2 and following for alarm
No. "18".
A value that is 80% or more of the max.
value is displayed.
The value is 80% or less of the max.
value.
Reduce the rapid traverse time constant so
that the current value on the Servo Monitor
screen is 80% or less of the max. value
during rapid traverse
acceleration/deceleration.
Investigate item 5.
CAUTION
Do not drive the motor with a drive unit having a capacity exceeding the motor
capacity. The motor could be demagnetized.
8 - 24

8. Troubleshooting
Alarm No.
32
Power module error (Overcurrent):
The IPM used for the inverter detected an overcurrent.
Investigation details Investigation results Remedies
1 Check for a short-circuit in the UWV
phases of the unit output.
• Disconnect the U V W connection
from the terminal block and the
motor's cannon plug, and check with a
tester.
2 Check whether there is a ground fault in
the UVW wires.
• Check between the UVW wires and
ground with a tester in the state given
in item 1.
3 Check whether there is a ground fault in
the motor.
• Check between the motor's wires and
ground with a tester (megger) in the
state given in item 1.
The phases are short circuited or there is
no continuity.
Replace the UVW wires.
The phases are normal. Investigate item 2.
The phases are short circuited or there is
no continuity.
Replace the UVW wires.
The phases are normal. Investigate item 3.
The phases are short circuited or there is
no continuity.
The phases are normal.
(same level as other axes)
Replace the motor.
Investigate item 4.
4 Check the parameter setting values. The settings are incorrect.
Correctly set.
• Refer to the adjustment procedures. The settings are correct. Investigate item 5.
5 Wiggle the connectors by hand to check
whether the detector connectors (unit
side and detector side) are
disconnected.
The connector is disconnected (or
loose).
Correctly install.
The connector is not disconnected. Investigate item 6.
6 Turn the power OFF, and check the There is a connection fault.
Replace the detector cable.
detector cable connection with a tester. The connection is normal. Investigate item 7.
7 Check the repeatability.
8 Connect to another normal axis driver,
and check whether the fault is on the unit
side or scale side.
9 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
The alarm is not repeated.
Investigate item 9.
The alarm is repeated sometimes.
The alarm is always repeated. Investigate item 8.
The alarm is on the unit side.
The alarm is on the detector.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Replace the motor (the detector).
Monitor the state for a while.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
8 - 25

8. Troubleshooting
Alarm No.
34
CNC communication CRC error:
An error was detected in the data sent from the CNC to the driver.
Investigation details Investigation results Remedies
1 Wiggle the connection cables by hand
between the CNC and drive unit,
between the battery unit and drive unit,
and between the drive units to see if any
of the connectors are loose.
Check whether any force is being
applied on the connectors.
2 Turn the power OFF, and check the
connection of the communication cables
listed in item 1.
Try replacing the cables with normal
ones.
3 Check whether the CNC and drive unit
software versions have been changed
recently.
4 Try replacing with another unit to
determine whether the fault is on the
CNC side or units side.
5 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
35
The connector is disconnected (or
loose).
Correctly install.
The connector is not disconnected. Investigate item 2.
There is a connection fault.
Alarm check timing
f1 F2 f3 f4
– ◦ ◦ ◦
Replace the communication cable.
The connection is normal. Investigate item 3.
The version was changed.
The version was not changed. Investigate item 4.
The alarm is on the unit side.
Replace with the original software version.
Replace the drive unit.
The driver is not the cause. Investigate item 5.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
CNC communication data error:
An error was detected in the movement command data from the CNC.
Replace the MCP card on the CNC side.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Check the alarm No. "34" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ –
Alarm No.
36
CNC communication, communication error:
The communication from the CNC was cut off.
Investigation details Investigation results Remedies
1 Check the alarm No. "34" items.
Alarm No.
37
Initial parameter error:
An illegal parameter was detected in the parameters sent when the CNC power was
turned ON.
Investigation details Investigation results Remedies
1 The illegal parameter No. will appear on
the CNC Diagnosis screen, so check that
servo parameter with the parameter
adjustment procedures.
The parameter is incorrect.
Set to the correct parameter.
The parameter is correct. Investigate item 3.
The parameter No. is not 1 to 64.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ –
Alarm check timing
f1 f2 f3 f4
– ◦ – ◦
If the No. is 101, check investigation item
2.
2 Check whether the servo parameter
(PIT) (RNG1) (RNG2) (PC1) and (PC2)
combination is illegal, or whether the
setting range is exceeded.
The combination is illegal, or the setting
range is exceeded.
The parameter is correct.
Refer to the parameter settings in the
specifications and to the supplements, and
set to the correct values.
Investigate item 3.
3 Check the alarm No. "34" items.
8 - 26

8. Troubleshooting
Alarm No.
38
CNC communication protocol error 1:
An error was detected in the communication frame sent from the CNC.
Investigation details Investigation results Remedies
1 Check the alarm No. "34" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
39
CNC communication protocol error 2
An error was detected in the axis information data sent from the CNC.
Investigation details Investigation results Remedies
1 Check the alarm No. "34" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
3A
Overcurrent:
An excessive current was detected in the motor drive current.
Investigation details Investigation results Remedies
1 Check the alarm No. "32" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
3B
Power module overheat:
The power module's temperature protection function activated.
Investigation details Investigation results Remedies
1 Turn the unit power ON again, and
confirm the rotation of the fan.
Note) Assure more than 10 seconds for
the time from when the power is turned
OFF till when it is turned ON. For the fan
used for the drive unit, assuring more
than 10 seconds for the time from when
the power is turned OFF till when it is
turned ON is required.
The fan is rotating, and an alarm did not
occur again.
The fan did not rotate. Or, an alarm
occurred again.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Continue to use.
The power may be turned ON without
assuring more than 10 seconds for the
time from when the power is turned OFF till
when it is turned ON.
Leave for more than 10 seconds or more,
and turn the power ON again.
Investigate item 2.
2 Confirm adhesion of cutting oil or cutting Large amounts of cutting oil or cutting Clean or replace the fan.
chips, etc. at the fan. Or check if there is chips, etc., are adhered, or the
any abnormality such as low rotation
speed.
rotation is slow.
The fan is rotating properly. Investigate item 3.
3 Check whether the heat dissipating fins
are dirty.
Cutting oil or cutting chips, etc., are
adhered, and the fins are clogged.
Clean the fins.
4 Measure the drive unit's ambient
temperature.
5 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
43
The fins are normal. Investigate item 4.
55°C or more Improve the ventilation and cooling for the
power distribution panel.
Less than 55°C. Investigate item 5.
No abnormality is found in particular. If the alarm occurs even after the unit
temperature has dropped, replace the unit.
An abnormality was found in the ambient
environment.
Feedback error 2:
An excessive deviation of the feedback amount for the motor side detector and
machine side detector was detected in the 2-scale 2-motor (2-amplifier) control.
Take remedies according to the causes of
the abnormality.
Ex. High temperature:
Check the cooling fan.
Incomplete grounding:
Additionally ground.
Investigation details Investigation results Remedies
1 Check items 3 and following for alarm
No. "2A".
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ –
8 - 27

8. Troubleshooting
Alarm No.
46
Motor overheat:
A temperature error was detected in the motor being driven. (°C)
(Temperature exceeded 100°C)
Investigation details Investigation results Remedies
1 Check whether the specifications provide
the motor thermal.
The specifications do not provide the
motor thermal.
The specifications provide the motor
thermal.
Investigate item 2.
Investigate item 3.
2 Check the servo parameter (SV034) The parameter is not set correctly. Correctly set SV034/mohm
setting value. The parameter is set correctly. Investigate item 3.
3 Check the repeatability.
4 Check the motor temperature when the
alarm occurs.
5 Wiggle the connectors by hand to check
whether the detector connectors (unit
side and motor side cannon) are
disconnected.
The alarm is repeated within one minute
after startup.
The alarm is repeated sometimes after
operating for a while.
The motor is hot.
Investigate item 5.
Investigate item 4.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ –
Ease the operation pattern.
↓
If the problem is not solved, check
investigation item 5.
The motor is not high. Investigate item 5.
The connector is disconnected (or loose).
Correctly install.
The connector is not disconnected. Investigate item 6.
6 Turn the power OFF, and check the There is a connection fault.
Replace the detector cable.
detector cable connection with a tester. The connection is normal. Investigate item 7.
7 Connect to another normal axis unit, and
check whether the fault is on the unit
side.
8 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
48
The alarm is on the unit side.
The alarm occurs even when the unit is
replaced.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 8.
Scale CPU error:
The CPU of the absolute position linear scale connected to the motor side is not
operating correctly.
Replace the motor.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Wiggle the connectors by hand to check
whether the absolute position linear
scale connectors (unit side and scale
side) are disconnected.
The connector is disconnected (or loose).
Correctly install.
The connector is not disconnected. Investigate item 2.
2 Turn the power OFF, and check the There is a connection fault.
Replace the detector cable.
detector cable connection with a tester. The connection is normal. Investigate item 3.
3 Connect to another normal axis unit, and
check whether the fault is on the unit side
or scale side.
4 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
The alarm is on the unit side.
The alarm is on the absolute position
linear scale side.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 4.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Replace the absolute position linear scale.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
8 - 28

8. Troubleshooting
Alarm No.
49
Scale overspeed:
The absolute position liner scale connected to the motor side detected a speed of
45m/sec or more when the CNC power was turned ON.
Investigation details Investigation results Remedies
1 Check that the system is an absolute
position linear scale specification
system.
2 Check whether the machine was
operating when the alarm occurred.
3 Wiggle the connectors by hand to check
whether the absolute position linear
scale connectors (unit side and scale
side) are disconnected.
The system is not the absolute position
linear scale specifications.
The system is the absolute position
linear scale specifications.
Alarm check timing
f1 f2 f3 f4
– ◦ – –
Correctly set the SV025: MTYP parameter.
Investigate item 2.
The machine was operating.
Check the motor's mechanical brakes and
machine system.
The machine was not operating. Investigate item 3.
The connector is disconnected (or loose). Correctly install.
The connector is not disconnected. Investigate item 4.
4 Turn the power OFF, and check the There is a connection fault.
Replace the detector cable.
detector cable connection with a tester. The connection is normal. Investigate item 5.
5 Connect to another normal axis unit, and
check whether the fault is on the unit side
or detector side.
6 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
4A
The alarm is on the unit side.
The alarm is on the absolute position
linear scale side.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 6.
Absolute position detection circuit error:
An error was detected in the scale or scale side circuit of the absolute position linear
scale connected to the motor side.
Replace the absolute position linear scale.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Check the alarm No. "49" items.
Alarm No.
4B
Incremental position detection circuit error:
A speed exceeding the max. movement speed of the absolute position linear scale
connected to the motor side was detected.
Investigation details Investigation results Remedies
1 Check whether the machine was The machine was operating. Investigate item 3.
operating when the alarm occurred. The machine was not operating. Investigate item 2.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
2 Check whether the operation is normal at The machine was operating. Investigate item 3.
low-speeds. The machine was not operating. Check the wiring and the parameters at
power ON.
3 Check whether the connector is The connector is disconnected (or loose). Correctly install.
disconnected from the unit side or scale
side.
The connector is not disconnected. Investigate item 4.
4 Turn the power OFF, and check the There is a connection fault.
Replace the detector cable.
detector cable connection with a tester. The connection is normal. Investigate item 5.
5 Connect to another normal axis unit, and
check whether the fault is on the unit side
or detector side.
6 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
The alarm is on the unit side.
The alarm is on the absolute position
linear scale side.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 6.
Replace the motor (the linear scale).
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
CAUTION
Do not drive the motor with a drive unit having a capacity exceeding the motor
capacity. The motor could be demagnetized.
8 - 29

8. Troubleshooting
Alarm No.
50
Overload 1:
The servomotor or servo drive unit load level obtained from the motor current reached
the overload level set with the overload detection level (SV022:OLL).
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Investigation details Investigation results Remedies
1 Check the servo parameter (OLL) setting The value differs from the standard When not using special specifications, set
value.
Standard setting value OLL: 150.
setting value.
The value is the standard setting value.
the value to the standard setting value.
Investigate item 2.
2 Check the motor temperature when the
alarm occurs.
3 Check whether the motor is hunting.
4 Connect to another normal axis unit, and
check whether the fault is on the unit
side.
5 Check whether the current value on the
CNC Servo Monitor screen is an
abnormally large value when stopped
and operating.
6 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
51
The motor is hot.
Ease the operation pattern.
↓
If the problem is not solved, check
investigation item 3.
The motor is not high. Investigate item 3.
The motor is hunting.
The motor is not hunting. Investigate item 4.
The alarm is on the unit side.
The alarm occurs even when the unit is
replaced.
An abnormal value is displayed.
Refer to the adjustment procedures and
readjust.
• Check the cable wiring and connector
connection.
• Check for incorrect parameter settings.
• Adjust the gain.
↓
If the problem is not resolved, check
investigation item 4.
Replace the drive unit.
Investigate item 5.
Check the machine system.
A correct value is displayed. Investigate item 6.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Overload 2:
A current command exceeding 95% of the drive units max. capacity continued for 1
sec. or more.
Replace the motor (the detector).
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Alarm check timing
f1 f2 f3 f4
– – ◦ –
Investigation details Investigation results Remedies
1 Check whether the PN power is supplied The voltage is being supplied. Investigate item 3.
to the drive unit.
• Check the axis for which the alarm is
The voltage is not being supplied. Investigate item 2.
occurring and the axis farthest from
the power supply.
2 Check whether the power supply unit's There is no voltage at the PN terminal. Check the power supply unit.
CHARGE lamp is lit, and the PN terminal (The lamp is not lit.)
voltage. There is voltage at the PN terminal. Check the PN wiring between the units.
3 Check whether the current value on the
CNC Servo Monitor screen is an
abnormally large value during acceleration/deceleration.
The max. value is exceeding the x level
given on the previous page.
A correct value is displayed.
Increase the acceleration/deceleration
time constant to lower to approx. 80% of
the limit value.
Investigate item 4.
4 Check items 3 and following for alarm
No. "50".
8 - 30

8. Troubleshooting
Alarm No.
52
Excessive error 1:
The difference of the ideal position and actual position exceeded the parameter
SV023:OD1 (or SV053:OD3) at servo ON.
Investigation details Investigation results Remedies
1 Check whether the PN power is supplied
to the drive unit.
• Check the axis for which the alarm is
occurring and the axis farthest from
the power supply.
The voltage is being supplied. Investigate item 3.
The voltage is not being supplied. Investigate item 2.
Alarm check timing
f1 f2 f3 f4
– – ◦ –
2 Check whether the power supply unit's There is no voltage at the PN terminal. Check the power supply unit.
CHARGE lamp is lit, and the PN terminal (The lamp is not lit.)
voltage. There is voltage at the PN terminal. Check the PN wiring between the units.
3 Check the servo parameter (OD1)
setting value.
4 Check items 3 and following for alarm
No. "50".
The value differs from the standard
setting value.
The value is the standard setting value. Investigate item 4.
When not using special specifications, set
the value to the standard setting value.
Supplement
Depending on the ideal machine position in respect to the command position, the actual machine
position could enter the actual shaded section shown below, which is separated more than the
distance set in OD1.
Position
Command position
OD1
Ideal machine position
OD2
OD2
Servo OFF
OD1
Servo ON
Time
CAUTION
Do not drive the motor with a drive unit having a capacity exceeding the motor
capacity. The motor could be demagnetized.
8 - 31

8. Troubleshooting
Alarm No.
53
Excessive error 2:
The difference of the ideal position and actual position exceeded parameter
SV026:OD2 at servo OFF.
Investigation details Investigation results Remedies
1 Check the servo parameter (OD2)
setting value.
2 Check whether the machine is moving
during servo OFF.
3 Wiggle the communication cable
between the CNC and final connector by
hand to check whether the detector
connectors (unit side and CNC side) are
disconnected.
4 Turn the power OFF, and check the
communication cable connection with a
tester.
Try replacing with normal cables.
The value differs from the standard
setting value.
Alarm check timing
f1 f2 f3 f4
– ◦ – –
When not using special specifications, set
the value to the standard setting value.
The value is the standard setting value. Investigate item 2.
The machine was operating.
Check the machine and mechanical
brakes.
The machine was not operating. Investigate item 3.
The connector is disconnected (or loose). Correctly install.
The connector is not disconnected. Investigate item 4.
There is a connection fault.
Replace the communication cable.
The connection is normal. Investigate item 5.
5 Replace with another normal axis unit, The alarm is on the unit side.
and check whether the fault is in the unit. The alarm occurs even when the unit is
replaced.
6 Wiggle the connectors by hand to check
whether the detector connectors (unit
side and motor side) are disconnected.
The connector is disconnected (or loose).
Replace the drive unit.
Replace the MCP card on the CNC side.
↓
If the problem is not resolved, check
investigation item 6.
Correctly install.
The connector is not disconnected. Investigate item 7.
7 Turn the power OFF, and check the There is a connection fault.
Replace the detector cable.
detector cable connection with a tester. The connection is normal. Investigate item 8.
8 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
54
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Excessive error 3:
The motor current is not flowing when the excessive error alarm 1 was detected.
Replace the motor.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Check whether the PN power is supplied
to the driver.
• Check the axis for which the alarm is
occurring and the axis farthest from
the power supply.
The voltage is being supplied. Investigate item 3.
The voltage is not being supplied. Investigate item 2.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ –
2 Check whether the power supply unit's There is no voltage at the PN terminal. Check the power supply unit.
CHARGE lamp is lit, and the PN terminal (The lamp is not lit.)
voltage. There is voltage at the PN terminal. Check the PN wiring between the units.
3 Check whether the motor power line is
connected to the motor.
• Disconnect the power line from the
terminal block, and check between
UVW with a tester.
The power line is not connected or is
disconnected.
The power line is correctly connected. Investigate item 4.
Increase the acceleration/deceleration
time constant to lower to approx. 80% of
the limit value.
4 Replace with another normal unit, and The alarm is on the unit side.
Replace the drive unit.
check whether the fault is in the unit. The alarm is on the motor side. Replace the motor.
CAUTION
Do not drive the motor with a drive unit having a capacity exceeding the motor
capacity. The motor could be demagnetized.
8 - 32

8. Troubleshooting
Alarm No.
58
Collision detection 0:
A collision detection method 1 error was detected during the G0 modal (rapid traverse).
(A disturbance torque exceeding the tolerable disturbance torque was detected.)
Investigation details Investigation results Remedies
1 Check whether the collision detection
function is being used.
Check whether the machine is colliding.
2 Check the parameter.
Is SV060 (TLTM) set to "0"?
3 Check whether the current during normal
rapid traverse acceleration/ deceleration
has reached the current limit value, or
whether it is 90% or more of the limit
value.
4 Readjust the collision detection function,
and then operate. (Refer to the separate
collision detection function
specifications.)
5 Is the machine or current vibrating?
6 Raise the detection level.
Alarm No.
59
The collision detection function is not
being used.
Investigate item 2.
Alarm check timing
f1 f2 f3 f4
– – ◦ –
The motor is colliding.
Improve so that the machine does not
collide.
The collision detection is being used, but Investigate item 3.
the machine is not colliding.
The setting is incorrect. Set SV060 (TLMT) to "0".
The current is 90% or more of the current
limit value.
The current is less than 90% of the
current limit value.
The alarm does not occur.
Lengthen the time constant, and check
investigation item 4.
Investigate item 4.
The alarm occurs. Investigate item 5.
They are vibrating.
Eliminate the vibration by adjusting the
gain, and check investigation item 4.
They are not vibrating. Investigate item 6.
The alarm does not occur.
If the problem is not resolved even after
replacing the drive unit, raise the level.
The alarm occurs.
Replace the drive unit.
Collision detection 1:
A collision detection method 1 error was detected during the G1 modal (cutting feed).
(A disturbance torque exceeding the tolerable disturbance torque was detected.)
Investigation details Investigation results Remedies
1 Check whether the collision detection
function is being used.
Check whether the machine is colliding.
2 Check the parameter.
Is SV060 (TLTM) set to "0"?
3 Check whether the current during normal
rapid traverse acceleration/ deceleration
has reached the current limit value, or
whether it is 90% or more of the limit
value.
4 Readjust the collision detection function,
and then operate. (Refer to the separate
collision detection function
specifications.)
5 Is the machine or current vibrating?
6 Raise the detection level.
The collision detection function is not
being used.
Investigate item 2.
Alarm check timing
f1 f2 f3 f4
– – ◦ –
The motor is colliding.
Improve so that the machine does not
collide.
The collision detection is being used, but Investigate item 2.
the machine is not colliding.
The setting is incorrect. Set SV060 (TLMT) to "0".
The current is 90% or more of the current
limit value.
The current is less than 90% of the
current limit value.
The alarm does not occur.
Lengthen the time constant, and check
investigation item 4.
Investigate item 4.
The alarm occurs. Investigate item 5.
They are vibrating.
Eliminate the vibration by adjusting the
gain, and check investigation item 4.
They are not vibrating. Investigate item 6.
The alarm does not occur.
If the problem is not resolved even after
replacing the drive unit, raise the level.
The alarm occurs.
Replace the drive unit.
Alarm No.
5A
Collision detection 2:
A collision detection method 2 error was detected.
Investigation details Investigation results Remedies
1 Check the alarm No. "58" items.
Alarm check timing
f1 f2 f3 f4
– – ◦ –
8 - 33

8. Troubleshooting
Alarm No.
80
HR unit connection error:
An incorrect connection or cable breakage was detected in the MDS-B-HR connected
to the motor side.
Investigation details Investigation results Remedies
1 Wiggle the connectors by hand to check
whether the MDS-B-HR connectors (unit
side, HR side and linear scale side) are
disconnected.
2 Turn the power OFF, and check the
connection of the detector cables
(between driver I/F units and between I/F
unit and scale) with a tester.
3 Connect with another normal axis unit (or
MDS-B-HR) and check whether the fault
is on the unit side or MDS-B-HR (linear
scale) side.
4 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
81
The connector is disconnected (or loose).
Correctly install.
The connector is not disconnected. Investigate item 2.
There is a connection fault.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Replace the communication cable.
The connection is normal. Investigate item 3.
The alarm is on the unit side.
The alarm is on the MDS-B-HR (linear
scale) side.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 4.
HR unit HSS communication error:
The MDS-B-HR connected to the motor side detected an error in the communication
with the absolute position linear scale.
Replace MDS-B-HR (linear scale).
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Check the alarm No. "80" items.
Alarm No.
83
HR unit scale judgment error:
The MDS-B-HR connected to the motor side could not judge the analog frequency of
the connected linear scale.
Investigation details Investigation results Remedies
1 Wiggle the connectors by hand to check
whether the MDS-B-HR connectors (unit
side, HR side, linear scale side and MD
side) are disconnected.
2 Turn the power OFF, and check the
connection of the detector cables
(between driver and I/F units, between
I/F unit and scale and between I/F unit
and pole detector) with a tester.
3 Connect with another normal axis unit (or
MDS-B-HR) and check whether the fault
is on the unit side or MDS-B-HR (linear
scale or MDS-B-MD) side.
4 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
The connector is disconnected (or loose).
Correctly install.
The connector is not disconnected. Investigate item 2.
There is a connection fault.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Replace the communication cable.
The connection is normal. Investigate item 3.
The alarm is on the unit side.
The alarm is on the MDS-B-HR (linear
scale or MDS-B-MD) side.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 4.
Replace MDS-B-HR (linear scale or
MDS-B-MD).
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
CAUTION
Do not drive the motor with a drive unit having a capacity exceeding the motor
capacity. The motor could be demagnetized.
8 - 34

8. Troubleshooting
Alarm No.
84
HR unit CPU error:
The CPU of the MDS-B-HR connected to the motor side is not operating correctly.
Investigation details Investigation results Remedies
1 Wiggle the connectors by hand to check
whether the MDS-B-HR connectors (unit
side and HR side) are disconnected.
2 Turn the power OFF, and check the
connection of the detector cables
(between drive unit and I/F units) with a
tester.
3 Connect with another normal axis unit
and check whether the fault is on the unit
side or MDS-B-HR side.
4 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
85
The connector is disconnected (or loose).
Correctly install.
The connector is not disconnected. Investigate item 2.
There is a connection fault.
Alarm check timing
f1 f2 f3 f4
◦ – – –
Replace the communication cable.
The connection is normal. Investigate item 3.
The alarm is on the unit side.
Replace the drive unit.
The alarm is on the MDS-B-HR side. Investigate item 4.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
HR unit data error:
An error was detected in the analog interpolation data of the MDS-B-HR connected to
the motor side.
Replace MDS-B-HR.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Check the alarm No. "80" items.
Alarm No.
86
HR unit pole error:
An error was detected in the pole data of the MDS-B-HR connected to the motor side.
Investigation details Investigation results Remedies
1 Wiggle the connectors by hand to check
whether the MDS-B-HR connectors (unit
side, HR side and MD side) are
disconnected.
2 Turn the power OFF, and check the
connection of the detector cables
(between drive unit and I/F units and
between I/F unit and pole detector) with
a tester.
3 Connect with another normal axis unit (or
MDS-B-HR) and check whether the fault
is on the unit side or MDS-B-HR
(MDS-B-MD) side.
4 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
The connector is disconnected (or loose).
Correctly install.
The connector is not disconnected. Investigate item 2.
There is a connection fault.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Replace the communication cable.
The connection is normal. Investigate item 3.
The alarm is on the unit side.
The alarm is on the MDS-B-HR
(MDS-B-MD) side.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 4.
Replace MDS-B-HR (MDS-B-MD).
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
8 - 35

8. Troubleshooting
Alarm No.
88
Watch dog:
The servo drive software processing time did not end within the specified time.
Investigation details Investigation results Remedies
Alarm check timing
f1 f2 f3 f4
◦ ◦ ◦ ◦
1 Check whether the servo software The version was changed.
Replace with the original software version.
version has been changed recently. The version was not changed. Investigate item 2.
2 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
89
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
HR unit connection error (SUB):
An incorrect connection or cable breakage was detected in the MDS-B-HR connected
to the machine side.
Replace the drive unit.
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Check the alarm No. "80" items.
Alarm No.
8A
HR unit HSS communication error (SUB):
The MDS-B-HR connected to the machine side detected an error in the
communication with the absolute position linear scale.
Investigation details Investigation results Remedies
1 Check the alarm No. "80" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
8C
HR unit scale judgment error (SUB):
The MDS-B-HR connected to the machine side could not judge the analog frequency
of the connected linear scale.
Investigation details Investigation results Remedies
1 Check the alarm No. "83" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
8D
HR unit CPU error (SUB):
The CPU of the MDS-B-HR connected to the machine side is not operating correctly.
Investigation details Investigation results Remedies
1 Check the alarm No. "84" items.
Alarm check timing
f1 f2 f3 f4
◦ – – –
Alarm No.
8E
HR unit data error (SUB):
An error was detected in the analog interpolation data of the MDS-B-HR connected to
the machine side.
Investigation details Investigation results Remedies
1 Check the alarm No. "80" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
8F
HR unit pole error (SUB):
An error was detected in the pole data of the MDS-B-HR connected to the machine
side.
Investigation details Investigation results Remedies
1 Check the alarm No. "86" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
8 - 36

8. Troubleshooting
Alarm No.
93
Absolute position fluctuation:
A fluctuation exceeding the tolerable value was detected in the absolute position
detected when the CNC power is turned ON.
Investigation details Investigation results Remedies
1 Check whether the connector is
disconnected from the unit side or
detector side.
The connector is disconnected (or loose).
Correctly install.
The connector is not disconnected. Investigate item 2.
2 Turn the power OFF, and check the There is a connection fault.
connection of the detector cables with a
tester.
3 Check the repeatability.
The alarm is not repeated.
Carry out zero point return again.
The alarm is always repeated.
Or, the state returns to normal once, but
then is repeated sometimes.
4 Connect with another normal axis unit
and check whether the fault is on the unit
side.
5 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Alarm No.
9B
Alarm check timing
f1 f2 f3 f4
– ◦ – –
Replace the communication cable.
The connection is normal. Investigate item 3.
The alarm is on the unit side.
The alarm occurs even when the unit is
replaced.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
If no abnormality is found with investigation
item 5, continue use.
Investigate item 4.
Replace the drive unit.
Investigate item 5.
Pole shift warning:
An error was detected in the pole shift amount set in servo parameter SV028.
Replace the motor (detector).
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
Investigation details Investigation results Remedies
1 Check whether the MDS-B-MD system is The system is not MDS-B-MD. Investigate item 4.
being used. The system is MDS-B-MD. Investigate item 2.
2 Check whether the warning occurred at
the first movement after setting the servo
parameter (SV028).
3 Carry out DC excitation again, and check
the servo parameter (SV028) setting
value.
4 Wiggle the connectors by hand to check
whether the MDS-B-HR connectors (unit
side, HR side and MD side) are
disconnected.
5 Turn the power OFF, and check the
connection of the detector cables
(between drive unit I/F units and
between I/F unit and pole detector) with
a tester.
6 Connect with another normal axis unit (or
MDS-B-HR) and check whether the fault
is on the unit side or MDS-B-HR
(MDS-B-MD) side.
7 Check if there is any abnormality in the
unit's ambient environment.
(Ex. Ambient temperature, noise,
grounding)
Movement is possible several times
without a warning.
The warning occurred at the first
movement.
The SV028 setting value is the same with
the previous and current DC excitation.
The SV028 setting value is different with
the previous and current DC excitation.
The connector is disconnected (or loose).
Investigate item 4.
Investigate item 3.
Investigate item 4.
Alarm check timing
f1 f2 f3 f4
– – ◦ –
Set SV028 to the current DC excitation
value.
↓
If the problem is not resolved, check
investigation item 4.
Correctly install.
The connector is not disconnected. Investigate item 5.
There is a connection fault.
Replace the communication cable.
The connection is normal. Investigate item 6.
The alarm is on the unit side.
The alarm is on the MDS-B-HR
(MDS-B-MD) side.
No abnormality is found in particular.
An abnormality was found in the ambient
environment.
Replace the drive unit.
Investigate item 7.
Replace MDS-B-HR (linear scale or
MDS-B-MD).
Take remedies according to the causes of
the abnormality.
Ex. High temperature : Check the
cooling fan.
Incomplete grounding : Additionally
ground.
8 - 37

8. Troubleshooting
Alarm No.
9C
HR unit pole warning:
An error was detected in the pole position data of the MDS-B-HR connected to the
MAIN side after passing the Z phase.
Investigation details Investigation results Remedies
1 Check the alarm No. "86" items.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm No.
9D
HR unit pole warning (SUB):
An error was detected in the pole position data of the MDS-B-HR connected to the
SUB side after passing the Z phase.
Investigation details Investigation results Remedies
1 Check the alarm No. "86" items.
Alarm No.
E1
Overload warning:
An level 80% of the overload alarm 1 was detected.
Investigation details Investigation results Remedies
1 Check whether the motor is hot.
2 Check whether there is a problem during
acceleration/deceleration operation.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
The motor is not hot.
Check the alarm No. "50" items.
The motor is hot. Investigate item 2.
Operation is possible without problem. 1. If possible, ease the operation pattern.
2. If an alarm does not occur with
continued operation, continue in this
state.
There is a problem in the operation.
Check investigation items 3 and following
of alarm No. "50".
Alarm No.
E4
Parameter error warning:
A parameter exceeding the setting range was set.
Investigation details Investigation results Remedies
1 Set the correct values following the
parameter adjustment procedures.
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ –
Alarm No.
E7
CNC emergency stop:
An emergency stop signal is being sent from the CNC, or an alarm is occurring in
another axis.
Investigation details Investigation results Remedies
1 Check whether the CNC side emergency The emergency stop state is entered. Investigate item 2.
stop switch has been applied. Emergency stop has been canceled. Investigate item 3.
2 Cancel the emergency stop.
3 Check whether the terminator or battery
unit is connected, or whether these are
loose.
Operation starts normally.
Normal
"E7" remains displayed. Investigate item 3.
Pinpoint the cause of the fault.
Correct the fault.
Normal
Alarm check timing
f1 f2 f3 f4
– ◦ ◦ ◦
Check the alarm No. "34" items.
CAUTION
Do not drive the motor with a drive unit having a capacity exceeding the motor
capacity. The motor could be demagnetized.
8 - 38

8. Troubleshooting
8-4 Spindle system troubleshooting
Use the following explanation to diagnose faults (symptoms) not described in "8-3 Protective functions
list of units" when using a spindle drive unit and spindle motor combination.
8-4-1 Introduction
If any trouble occurs in the control unit, first check as many of the following matters as possible. Then,
inspect and repair the unit following the explanations in this section.
These following matters are also helpful information when contacting the Mitsubishi Service Center.
NOTICE
Do not perform a megger test (insulation resistance measurement) on the drive unit's
control circuit.
Matters to confirm when trouble occurs
1. Check the unit's 7-segment display or CNC Diagnosis screen to find the displayed alarm and
the alarms that have occurred in the past. (Refer to section "8-3 Protective functions list of
units".)
2. Can the fault or error be repeated?
3. Is the ambient temperature and inner-panel temperature normal?
4. Was the unit accelerating, decelerating or in constant speed operation? What was the speed?
5. Does the symptom change during forward run or reverse run?
6. Was there an instantaneous power failure?
7. Does the fault occur during specific operations or at a specific command?
8. How often does the fault occur?
9. Does the fault occur when a load is applied or removed?
10. Were remedial measures, etc., taken?
11. How many years has the system been operating?
12. Is the power voltage correct?
13. Do the symptoms change greatly depending on the time zone?
8-4-2 First step
Check the following matters as the first step of troubleshooting.
(1) Check the power voltage. The voltage drop must be within the specified value.
(Example) • The voltage drops at a set time each day.
• The voltage drops when starting a specific machine.
(2) Are the unit's peripheral control functions normal?
(Example) • Are the NC and sequence circuits, etc., normal?
• Visually check the wiring, etc., for abnormalities.
(3) Is the control unit's peripheral temperature (inner-panel temperature) 55°C or less?
(4) Are there any abnormalities on the outside of the unit?
(Example) • Loose connection connectors, damage, entry of foreign matter, etc.
By sufficiently checking the above state, a general idea on the faulty section can be grasped.
8 - 39

8. Troubleshooting
The MDS-CH-SP[ ] Series errors are largely categorized into the following groups.
The control unit power was turned ON for the first time, but normal operation was not
possible. (I)
Fault class A
The control unit operated normally but suddenly became inoperable. (II)
The unit does not operate normally some times. The orientation stop position is
deviated. An alarm is displayed. (III)
Unit fault
Regenerative resistance unit/regenerative resistance error
Spindle drive unit error
Fault class B Detector error Speed detection encoder error
1024p/rev encoder error
Error in parameters or transmission data from NC
Power supply error
Motor error
Other errors (incorrect input signal conditions, broken cables)
8-4-3 Second step
Fault class I Investigation items Remedies
The control unit power
was turned ON for the
first time, but normal
operation was not
possible.
The control unit is tested before shipment. Normal operation when the
power is turned ON for the first time may not be possible due to:
1
2
The unit was bumped against
something and damaged during
operation or installation.
Incorrect or broken external wiring or
sequence.
Is the cable broken?
Is the ground wire correctly wired?
Note that the power phase order is
irrelevant.
Investigate and remedy
according to (2).
Check that the unit's LED is ON.
Check the operation sequence.
3 Are the parameter settings correct? Check the parameters.
Check the UVW wiring.
4 The motor speed does not increase. Check the detector output
waveform for the built-in type.
Operation is normal when motor is run
5 Is the load too heavy?
as a single unit.
Orientation stop is incorrect (over-
6 Adjust the orientation.
travels, etc.)
7
The C-axis, synchronous tap and
spindle synchronization are incorrect.
Adjust and check the detector
waveform.
8 The unit's LED is displayed. Check section "8-3".
8 - 40

8. Troubleshooting
8-4-4 When there is no alarm or warning
(1) No abnormality is displayed, but the motor does not rotate.
1
Investigation item Investigation results Remedies
Check the wiring around the
spindle drive unit.
Also check for loosening in the
terminal screws and disconnections,
etc.
2 Check the input voltage.
3
4
Check all of the spindle
parameters.
The wiring is incorrect, the
screws are loose, or the cables
are disconnected.
No particular problems found.
The voltage is exceeding the
specification value.
The voltage is within the
specification value.
The correct values are not set.
The correct values are set.
Check the input signals. The signals are not input or the
• Are the READY, forward run sequence is incorrect.
and reverse run signals input? The orientation command is
• In particular, the forward run input.
and reverse run signals must be
input at least one second after
READY is turned ON.
No particular problems found.
• Check whether the forward run
and reverse run signals are
turned ON simultaneously.
5 Check the speed command.
The speed command is not input
correctly.
The speed command is input
correctly.
Correctly wire. Correctly tighten
the screws. Replace the
cables.
Investigate investigation item 2
and remedy.
Restore the power to the
correct state.
Investigate investigation item 3
and remedy.
Set the correct values.
Investigate investigation item 4
and remedy.
Correct the input signals.
Investigate investigation item 5
and remedy.
Input the correct speed
command.
Replace the unit.
(2) No fault is displayed, but the motor only rotates slowly, or a large noise is heard from the motor.
1
Investigation item Investigation results Remedies
Check the U, V and W wiring
between the spindle drive unit
and motor.
2 Check the input voltage.
3 Check the speed command.
4
Tug on the connector by hand to
check whether the speed detector
connector (spindle drive unit side
and speed detector side) is loose.
The wires are not connected
correctly.
The wires are connected
correctly.
One of the three phases is not
within the specification value.
No particular problems found.
The speed command is not input
correctly.
The speed command is input
correctly.
The connector is disconnected
(or loose).
The connector is not
disconnected (or loose).
Correctly connect.
Investigate investigation item 2
and remedy.
Restore the power to the
correct state.
Investigate investigation item 3
and remedy.
Investigate investigation item 4
and remedy.
Correctly connect the
connector.
Investigate investigation item 5
and remedy.
Replace the detector cable.
Correct the connection.
Turn the power OFF, and check The connection is faulty or
5 the connection of the speed disconnected.
detector cable with a tester. The connection is normal. Replace the unit.
8 - 41

8. Troubleshooting
(3) The rotation speed command and actual rotation speed do not match.
Investigation item Investigation results Remedies
1 Check the speed command.
2
3
Check whether there is slipping
between the motor and spindle.
(When connected with a belt or
clutch.)
Check the spindle parameters
(SP034, SP040, SP017, SP257
and following).
The speed command is not input
correctly.
The speed command is correct.
There is slipping.
No particular problems found.
The correct values are not set.
The correct values are set.
(4) The starting time is long or has increased in length.
Input the correct speed
command.
Investigate investigation item 2
and remedy.
Repair the machine side.
Investigate investigation item 3
and remedy.
Set the correct values.
Replace the spindle drive unit.
1
2
3
Investigation item Investigation results Remedies
Check whether the friction torque
has increased.
Manually rotate the motor
bearings and check the
movement.
The friction torque has increased. Repair the machine side.
Investigate investigation item 2
No particular problems found.
and remedy.
The bearings do not rotate
smoothly.
The bearings rotate smoothly.
Replace the spindle motor.
Investigate investigation item 3
and remedy.
Do not input this signal.
Check whether the torque limit The signal has been input.
signal has been input. The signal is not input. Replace the unit.
(5) The motor stops during cutting.
1
2
Investigation item Investigation results Remedies
Check the load rate during
cutting.
Investigate the same matters as
item (4), and remedy.
The load meter sways past
120% during cutting.
No particular problems found.
Reduce the load.
Investigate investigation item 2
and remedy.
8 - 42

8. Troubleshooting
(6) The vibration and noise (gear noise), etc., are large.
1
2
Investigation item Investigation results Remedies
Check the machine's dynamic
balance. (Coast from the
maximum speed.)
Check whether there is a
resonance point in the machine.
(Coast from the maximum
speed.)
3 Check the machine's backlash.
4
5
The same noise is heard during
coasting.
No particular problems found.
Vibration and noise increase at a
set rotation speed during
coasting.
No particular problems found.
The backlash is great.
No particular problems found.
Symptoms decrease when
setting value is set to approx.
Check the spindle parameter half.
SP022 (VGNP1), SP023
(VGNI1), SP056 (PYVR) settings. The symptoms do not change
even when the above value is
set.
Tug on the connector by hand to
check whether the speed detector
connector (spindle drive unit side
and speed detector side) is loose.
The connector is disconnected
(or loose).
The connector is not
disconnected (or loose).
Repair the machine side.
Investigate investigation item 2
and remedy.
Repair the machine side.
Investigate investigation item 3
and remedy.
Repair the machine side.
Investigate investigation item 4
and remedy.
Change the setting value.
Note that the impact response
will drop.
Return the setting values to the
original values.
Investigate investigation item 5
and remedy.
Correctly connect the
connector.
Investigate investigation item 6
and remedy.
Replace the detector cable.
Correct the connection.
Turn the power OFF, and check The connection is faulty or
6 the connection of the speed disconnected.
detector cable with a tester. The connection is normal. Replace the unit.
(7) The spindle coasts during deceleration.
1
Investigation item Investigation results Remedies
Check whether there is slipping
between the motor and spindle.
(When connected with a belt or
clutch.)
There is slipping.
No particular problems found.
Repair the machine side.
Replace the unit.
8 - 43

8. Troubleshooting
(8) The rotation does not stabilize.
Investigation item Investigation results Remedies
1
2
3
4
The rotation stabilizes when the
settings values are both set to
Check the spindle parameter approx. double.
SP022 (VGNP1), SP023 (VGNI1)
settings.
The symptoms do not change
even when the above value is
set.
Tug on the connector by hand to
check whether the speed detector
connector (spindle drive unit side
and speed detector side) is loose.
Turn the power OFF, and check
the connection of the speed
detector cable with a tester.
(Especially check the shield
wiring.)
Investigate the wiring and
installation environment.
1) Is the ground correctly
connected?
2) Are there any noise-generating
devices near the unit?
The connector is disconnected
(or loose).
The connector is not
disconnected (or loose).
The connection is faulty or
disconnected.
The connection is normal.
Change the setting value.
Note that the gear noise may
increase.
Return the setting values to the
original values.
Investigate investigation item 2
and remedy.
Correctly connect the
connector.
Investigate investigation item 3
and remedy.
Replace the detector cable.
Correct the connection.
Investigate investigation item 4
and remedy.
1) The grounding is incomplete. Correctly ground.
2) The alarm occurs easily
when a specific device
operates.
No particular problems found.
Use noise measures on the
device described on the left.
Replace the spindle drive unit.
(9) The speed does not rise above a set level.
Investigation item Investigation results Remedies
1
2
3
4
5
Check the speed command.
Check whether the override input
is input from the machine
operation panel.
Check whether the load has
suddenly become heavier.
Manually rotate the motor
bearings and check the
movement.
Tug on the connector by hand to
check whether the speed detector
connector (spindle drive unit side
and speed detector side) is loose.
Turn the power OFF, and check
the connection of the speed
detector cable with a tester.
(Especially check the shield
wiring.)
The speed command is not input
correctly.
The speed command is input
correctly.
The load has become heavier.
No particular problems found.
The bearings do not rotate
smoothly.
The bearings rotate smoothly.
The connector is disconnected
(or loose).
The connector is not
disconnected (or loose).
The connection is faulty or
disconnected.
The waveform is normal.
Input the correct speed
command.
Investigate investigation item 2
and remedy.
Repair the machine side.
Investigate investigation item 3
and remedy.
Replace the spindle motor.
Investigate investigation item 4
and remedy.
Correctly connect the
connector.
Investigate investigation item 5
and remedy.
Replace the detector cable.
Correct the connection.
Replace the spindle drive unit.
8 - 44

9. Characteristics
9-1 Overload protection characteristics.................................................................................................... 9-2
9-1-1 Servomotor (HC-H series)........................................................................................................... 9-2
9-1-2 Linear servomotor (LM-NP Series).............................................................................................. 9-9
9-2 Duty characteristics.......................................................................................................................... 9-10
9-3 Magnetic brake characteristics......................................................................................................... 9-14
9-4 Dynamic brake characteristics ......................................................................................................... 9-17
9-4-1 Deceleration torque ................................................................................................................... 9-17
9-4-2 Determining the coasting amount with emergency stop ........................................................... 9-18
9-5 Vibration class .................................................................................................................................. 9-20
9 - 1

9. Characteristics
9-1 Overload protection characteristics
The servo drive unit has an electronic thermal relay to protect the servomotor and servo drive unit from
overloads. The operation characteristics of the electronic thermal relay are shown below when standard
parameters (SV021=60, SV022=150) are set.
If overload operation over the electronic thermal relay protection curve shown below is carried out,
overload 1 (alarm 50) will occur. If the maximum current is commanded at 95% or higher continuously
for one second or more due to a machine collision, etc., overload 2 (alarm 51) will occur.
9-1-1 Servomotor (HC-H series)
(1) Motor HC-H52
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
(2) Motor HC-H53
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
9 - 2

9. Characteristics
(3) Motor HC-H102
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
(4) Motor HC-H103
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
(5) Motor HC-H152
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
9 - 3

9. Characteristics
(6) Motor HC-H153
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
(7) Motor HC-H202
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
(8) Motor HC-H203
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
9 - 4

9. Characteristics
(9) Motor HC-H352
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
(10) Motor HC-H353
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
(11) Motor HC-H452
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
9 - 5

9. Characteristics
(12) Motor HC-H453
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
(13) Motor HC-H702
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
(14) Motor HC-H703
10000
Operation time (s)
1000
100
10
1
Overload 2
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
9 - 6

9. Characteristics
(15) Motor HC-H902
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
(16) Motor HC-H903
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
(17) Motor HC-H1102
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
9 - 7

9. Characteristics
(18) Motor HC-H1103
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
(19) Motor HC-H1502
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
Overload 2
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
9 - 8

9. Characteristics
9-1-2 Linear servomotor (LM-NP Series)
(1) LM-NP5G60P (Natural-cooled type)
10000
1000
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
100
10
1
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
The maximum stall current is 732.
(2) LM-NP5G60P (Oil-cooled type)
10000
1000
100
"Overload 1" when rotating :
"Overload 1" when stopped :
Maximum stall :
Operation time (s)
10
1
0.1
0 50 100 150 200 250 300 350 400 450 500
Motor current (stall rated current ratio)
9 - 9

9. Characteristics
9-2 Duty characteristics
The duty drive characteristics are calculated from the motor's armature winding temperature rise
element and heat time constant. These characteristics express the output limit characteristics for an
independently rotating motor. The motor's thermal protection will activate and a motor overheat (ALM46)
will be detected if this limit is exceeded.
In the actual servo system, the electronic thermal protection is also controlled with software operations
in the servo amplifier. Thus, these characteristics may be limited by the servo amplifier.
Torque percent
t1
t0
t1 : ON time
Duty percent = t1
t0
× 100 (%)
(1) Servomotor (HC-H series)
100
80
HC-H52
Torque トルクパーセント( percent (current 電 流 パーセント) percent)
105%
Reference
110%
characteristics data
100
80
HC-H53
Torque トルクパーセント( percent 電 (current 流 パーセント) percent)
105%
Reference
110%
characteristics data
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
100
80
HC-H102
Torque percent (current percent)
トルクパーセント( 電 流 パーセント)
105%
Reference
characteristics data
110%
300%
0
0.1 1. 10. 100.
ON オン time 時 間 [min]
100
80
HC-H103
Torque percent (current percent)
トルクパーセント( 電 流 パーセント)
105%
Reference
characteristics data
110%
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
300%
0
0.1 1. ON time [min] 10. 100.
オン 時 間 [min]
9 - 10

9. Characteristics
100
HC-H152
Torque percent トルクパーセント( (current 電 流 パーセント) percent)
100
HC-H153
Torque トルクパーセント( percent (current 電 流 パーセント) percent)
80
105%
110%
Reference
characteristics data
80
105%
110%
Reference
characteristics data
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
100
80
HC-H202
Torque トルクパーセント( percent (current 電 流 パーセント) percent)
105%
Reference
characteristics data
110%
100
80
HC-H203
Torque トルクパーセント( percent (current 電 流 パーセント) percent)
105%
Reference
characteristics data
110%
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
100
80
105%
110%
HC-H352
Torque トルクパーセント( percent (current 電 流 パーセント) percent)
Reference
characteristics data
100
80
HC-H353
Torque トルクパーセント( percent (current 電 流 パーセント) percent)
105%
Reference
characteristics data
110%
デューティーパーセント [%]
Duty percent [%]
60
40
180%
120%
130%
140%
160%
デューティーパーセント [%]
Duty percent [%]
60
40
180%
120%
130%
140%
160%
20
200%
250%
20
200%
250%
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min] [min]
9 - 11

9. Characteristics
100
80
HC-H452
Torque トルクパーセント( percent (current 電 流 パーセント) percent)
105%
Reference
characteristics data
110%
100
80
HC-H453
Torque percent トルクパーセント( (current 電 流 パーセント) percent)
105%
Reference
characteristics data
110%
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
100
80
HC-H702
Torque トルクパーセント( percent (current 電 流 パーセント) percent)
105%
Reference
characteristics data
110%
100
80
HC-H703
Torque トルクパーセント( percent (current 電 流 パーセント) percent)
105%
Reference
characteristics data
110%
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
100
80
HC-H902
Torque percent トルクパーセント( (current 電 流 パーセント) percent)
105%
Reference
characteristics data
110%
100
80
HC-H903
Torque percent トルクパーセント( (current 電 流 パーセント) percent)
105%
Reference
characteristics data
110%
デューティーパーセント [%]
Duty percent [%]
60
40
180%
120%
130%
140%
160%
デューティーパーセント [%]
Duty percent [%]
60
40
180%
120%
130%
140%
160%
20
200%
250%
20
200%
250%
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
9 - 12

9. Characteristics
100
80
HC-H1102
Torque トルクパーセント( percent 電 (current 流 パーセント) percent)
105%
Reference
characteristics data
110%
100
80
HC-H1103
Torque percent トルクパーセント( (current 電 流 パーセント) percent)
105%
Reference
characteristics data
110%
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
デューティーパーセント [%]
Duty percent [%]
60
40
20
180%
200%
250%
120%
130%
140%
160%
300%
0
0.1 1. 10. 100.
ON オン time 時 間 [min]
300%
0
0.1 1. 10. 100.
ON time オン 時 間 [min]
(2) Linear servomotor (LM-NP series)
100
LM-NP5G
80
Duty percent (%)
60
40
20
0
LM-NP4G
0.1 1 10 100
ON time (min)
9 - 13

9. Characteristics
9-3 Magnetic brake characteristics
CAUTION
1. The axis will not be mechanically held even when the dynamic brakes are
used. If the machine could drop when the power fails, use a servomotor with
magnetic brakes or provide an external brake mechanism as holding means
to prevent dropping.
2. The magnetic brakes are used for holding, and must not be used for normal
braking. There may be cases when holding is not possible due to the life or
machine structure (when ball screw and servomotor are coupled with a timing
belt, etc.). Provide a stop device on the machine side to ensure safety.
3. When operating the brakes, always turn the servo OFF (or ready OFF). When
releasing the brakes, always confirm that the servo is ON first. Sequence
control considering this condition is possible by using the brake contact
connection terminal (CN20) on the servo drive unit.
4. When the vertical axis drop prevention function is used, the drop of the
vertical axis during an emergency stop can be suppressed to the minimum.
(1) Motor with magnetic brake
(a) Types
The motor with a magnetic brake is set for each motor. The "B" following the standard motor
model stands for the motor with a brake.
(b) Applications
When this type of motor is used for the vertical feed axis in a machining center, etc., slipping
and dropping of the spindle head can be prevented even when the hydraulic balancer's
hydraulic pressure reaches zero when the power turns OFF. When used with a robot, deviation
of the posture when the power is turned OFF can be prevented.
When used for the feed axis of a grinding machine, a double safety measures is formed with
the deceleration stop (dynamic brake stop) during emergency stop, and the risks of colliding
with the grinding stone and scattering can be prevented.
This motor cannot be used for the purposes other than holding and braking during a power
failure (emergency stop). (This cannot be used for normal deceleration, etc.)
(c) Features
1) The magnetic brakes use a DC excitation method, thus:
• The brake mechanism is simple and the reliability is high.
• There is no need to change the brake tap between 50Hz and 60Hz.
• There is no rush current when the excitation occurs, and shock does not occur.
• The brake section is not larger than the motor section.
2) The magnetic brake is built into the motor, and the installation dimensions are the same as
the motor without brake. (Note that the L dimension will be longer in comparison with the
motor with no break. For details, refer to the outline dimension.)
(d) Considerations to safety
1) Using a timing belt
Connecting the motor with magnetic brakes and the load (ball screw, etc.) with a timing
belt as shown on the left below could pose a hazard if the belt snaps. Even if the belt's
safety coefficient is increased, the belt could snap if the tension is too high or if cutting
chips get imbedded. Safety can be maintained by using the method shown on the right
below.
Dangerous!
Safe!
Motor
Brake
Load
Top
Load
Top
Timing belt
Bottom
Ball screw
Motor
(No brakes)
Timing belt
Bottom
Ball screw
Brake
9 - 14

9. Characteristics
(2) Magnetic brake characteristics
Item
Motor type
HC-H
52B
53B
102B 152B
103B 153B
202B
203B
352B 452B
353B 453B
702B
703B
902B 1102B
903B 1103B
Type (Note 1)
Spring closed non-exciting operation magnetic brakes
(for maintenance and emergency braking)
Rated voltage
24VDC
Rated current at 20°C (A) 0.91 0.86 1.0 1.4 1.4 1.7
Capacity (W) 22 21 24 34 34 41
Static friction torque (N•m) 3.5 9 12 32 54.9 90
Inertia (Note 2) (kg•cm 2 ) 0.5 0.5 0.5 3.4 4.5 24
Release delay time (Note 3) (s) 0.1 0.1 0.1 0.12 0.3 0.3
Braking delay time (DC OFF)
(Note 3)
(s) 0.1 0.1 0.1 0.1 0.1 0.1
Tolerable Per braking (J) 700 700 700 4,500 4,500 4,500
braking work
amount Per hour (J) 7,000 7,000 7,000 45,000 45,000 45,000
Brake play at motor axis (degree) 0.2 to 0.6 0.2 to 0.6 0.2 to 0.6 0.2 to 0.6 0.2 to 0.6 0.2 to 0.6
No. of braking
Brake life operations
(Note 4) Work amount
per braking
(times) 20,000 20,000 20,000 20,000 20,000 20,000
(J) 200 200 200 1,000 1,000 1,000
(Note 1) There is no manual release mechanism. If handling is required such as during the machine core alignment work,
prepare a separate 24VDC power supply, and electrically release a brake.
(Note 2) These are the values added to the servomotor without a brake.
(Note 3) This is the representative value for the initial attraction gap at 20°C.
(Note 4) The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be adjusted. Thus,
the brake life is considered to be reached when adjustments are required.
(Note 5) A leakage flux will be generated at the shaft end of the servomotor with a magnetic brake.
(Note 6) When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a problem in
terms of function.
9 - 15

9. Characteristics
(3) Magnetic brake power supply
CAUTION
1. Always install a surge absorber on the brake terminal when using DC OFF.
2. Do not pull out the cannon plug while the brake power is ON. The cannon plug
pins could be damaged by sparks.
(a) Brake excitation power supply
1) Prepare a brake excitation power supply that can accurately ensure the attraction current
in consideration of the voltage fluctuation and excitation coil temperature.
2) The brake terminal polarity is random. Make sure not to mistake the terminals with other
circuits.
(b) Brake excitation circuit
1) When turning OFF the brake excitation power supply (to apply the brake), DC OFF is used to
shorten the braking delay time. A surge absorber will be required. Pay attention to the relay
cut off capacity.
• Provide sufficient DC cut off capacity at the contact.
• Always use a surge absorber.
• When using the cannon plug type, the surge absorber will be further away, so use
shielded wires between the motor and surge absorber.
24VDC
100VAC or
200VAC
PS
SW1
ZD1
VAR1
ZD2
Magnetic brake 1
SW2
VAR2
Magnetic brake 2
(b) Example of DC OFF
PS : 24VDC stabilized power supply
ZD1, ZD2 : Zener diode for power supply protection (1W, 24V)
VAR1, VAR2 : Surge absorber
Magnetic brake circuits
9 - 16

9. Characteristics
9-4 Dynamic brake characteristics
If a servo alarm that cannot control the motor occurs or emergency stop is input from NC, the dynamic
brake stop the servomotor.
9-4-1 Deceleration torque
The dynamic brake use the motor as a generator, and obtains the deceleration torque by consuming that
energy with the dynamic brake resistance. The characteristics of this deceleration torque have a
maximum deceleration torque (Tdp) regarding the motor speed as shown in the following drawing. The
torque for each motor is shown in the following table.
Tdp
Deceleration
torque
0
Ndp
Motor speed
Fig. 9-2 Deceleration torque characteristics of a dynamic brake
Motor model
Stall torque
(N.m)
Table 9-3 Max. deceleration torque of a dynamic brake
Tdp (N.m) Ndp (r/min) Motor model
Rated torque
(N.m)
Tdp (N.m)
Ndp (r/min)
HC-H52 3.0 2.96 284 HC-H53 3.0 2.95 326
HC-H102 6.0 7.30 286 HC-H103 5.8 7.36 334
HC-H152 9.0 12.53 281 HC-H153 9.0 12.53 345
HC-H202 12.0 14.16 210 HC-H203 12.0 14.23 313
HC-H352 22.0 25.92 272 HC-H353 22.0 25.78 458
HC-H452 31.9 39.56 333 HC-H453 31.9 38.82 617
HC-H702 49.0 71.42 402 HC-H703 49.0 70.69 765
HC-H902 70.0 172.40 966 HC-H903 70.0 98.94 1178
HC-H1102 110.0 182.16 1165 HC-H1103 110.0 182.16 1165
HC-H1502 146.0 237.80 1828
9 - 17

9. Characteristics
9-4-2 Determining the coasting amount with emergency stop
(1) HC-H servomotor
The motor coasting amount when stopped by a dynamic brake can be approximated using the
following expression.
LMAX = F G0 x 10 3
JL
▪ {te + (1 +
60
JM ) ▪ (A ▪ N2 + B) ▪ 1.1}
LMAX : Coasting amount of machine (mm)
F G0 : Feedrate (rapid traverse) (r/m)
N : Motor speed (Maximum speed) (r/m)
JM : Motor inertia (kg . cm 2 )
JL : Motor shaft conversion load inertia (kg . cm 2 )
te : Brake drive relay delay time (s) (Normally, 0.03s)
A : Coefficient A (Refer to the table below)
B : Coefficient B (Refer to the table below)
1.1 : Margin
Emergency stop (EMG)
Dynamic brake control output
Actual dynamic brake operation
OFF
ON
OFF
ON
OFF
ON
Motor speed
Initial speed: No
Coasting amount
Motor
model
Fig. 9-3 Dynamic brake braking diagram
Table 9-4 Coasting amount calculation coefficients (HC-H Motor)
JM
(kg·cm 2 )
A
B
Motor
model
JM
(kg·cm 2 )
HC-H52 4.6 9.57×10 -9 2.31×10 -3 HC-H53 4.6 8.35×10 -9 2.67×10 -3
HC-H102 7.4 6.20×10 -9 1.52×10 -3 HC-H103 7.4 5.25×10 -9 1.76×10 -3
HC-H152 10.1 5.00×10 -9 1.19×10 -3 HC-H153 10.1 4.08×10 -9 1.46×10 -3
HC-H202 30.2 17.70×10 -9 2.35×10 -3 HC-H203 30.2 11.82×10 -9 3.48×10 -3
HC-H352 42.9 10.64×10 -9 2.35×10 -3 HC-H353 42.9 6.35×10 -9 3.99×10 -3
HC-H452 57.0 7.55×10 -9 2.51×10 -3 HC-H453 57.0 4.15×10 -9 4.74×10 -3
HC-H702 95.0 5.78×10 -9 2.80×10 -3 HC-H703 87.0 2.81×10 -9 4.93×10 -3
HC-H902 205.0 2.25×10 -9 6.31×10 -3 HC-H903 205.0 3.22×10 -9 13.41×10 -3
HC-H1102 270.0 2.22×10 -9 9.04×10 -3 HC-H1103 270.0 2.22×10 -9 9.04×10 -3
HC-H1502 550.0 2.21×10 -9 22.14×10 -3
te
A
Time
B
HC-H52B 5.9 0.13×10 -9 3.19×10 -3 HC-H53B 5.1 9.29×10 -9 2.97×10 -3
HC-H102B 8.9 7.44×10 -9 1.82×10 -3 HC-H103B 7.9 6.02×10 -9 2.01×10 -3
HC-H152B 11.6 6.83×10 -9 1.62×10 -3 HC-H153B 10.6 4.67×10 -9 1.67×10 -3
HC-H202B 32.1 19.00×10 -9 2.50×10 -3 HC-H203B 30.7 12.00×10 -9 3.54×10 -3
HC-H352B 47.9 12.00×10 -9 2.64×10 -3 HC-H353B 46.3 6.85×10 -9 4.31×10 -3
HC-H452B 62.0 7.79×10 -9 2.89×10 -3 HC-H453B 60.4 4.38×10 -9 5.01×10 -3
HC-H702B 101.0 6.13×10 -9 2.97×10 -3 HC-H703B 91.5 2.94×10 -9 5.18×10 -3
HC-H902B 239.0 2.17×10 -9 6.09×10 -3 HC-H903B 215.0 2.94×10 -9 12.71×10 -3
HC-H1102B 294.0 2.27×10 -9 10.48×10 -3 HC-H1103B 314.0 2.57×10 -9 10.56×10 -3
9 - 18

9. Characteristics
(2) Linear servomotor
The motor coasting amount when stopped by a dynamic brake can be approximated using the
following expression.
LMAX =
F0
60 ▪ {te + M ▪ (A + B ▪ F 0
2 ) ▪ 1.1}
LMAX : Coasting amount of machine (m)
F 0 : Speed during brake operation (m/min)
M : Total weight of moving section (kg)
te : Brake drive relay delay time (s) (Normally, 0.03s)
A : Coefficient A (Refer to the table below)
B : Coefficient B (Refer to the table below)
1.1 : Margin
Table 9-5 Coasting amount calculation coefficients (Linear servomotor)
Motor model A B
LN-NP5G-60P 1.31×10 -4 5.38×10 -9
9 - 19

9. Characteristics
9-5 Vibration class
The vibration class of the servomotor is V-10 at the rated speed. The servomotor installation posture and
measurement position to be used when measuring the vibration are shown below.
Servomotor
Top
Measurement
position
Bottom
Fig. 9-4 Servomotor vibration measurement conditions
The vibration class of the spindle motor is V-5 or V10. The posture for installing the spindle motor for
measurements is shown below. The vibration class will differ according to the motor, so refer to each
corresponding motor specifications.
Top
Spindle motor
Bottom
Fig. 9-5 Spindle motor vibration measurement conditions
9 - 20

10. Specifications
10-1 Power supply unit/drive unit ........................................................................................................... 10-2
10-1-1 Installation environment conditions ......................................................................................... 10-2
10-1-2 Servo drive unit........................................................................................................................ 10-2
10-1-3 Spindle drive unit..................................................................................................................... 10-3
10-1-4 Power supply unit .................................................................................................................... 10-3
10-1-5 Outline dimension drawings .................................................................................................... 10-4
10-1-6 Terminal layout........................................................................................................................ 10-8
10-1-7 The combination of servo drive unit and a motor .................................................................... 10-9
10-2 Servomotor................................................................................................................................... 10-10
10-2-1 Specifications list................................................................................................................... 10-10
10-2-2 Torque characteristics ........................................................................................................... 10-12
10-2-3 Model configuration ............................................................................................................... 10-14
10-2-4 Outline dimension drawings .................................................................................................. 10-15
10-3 Linear servomotor ........................................................................................................................ 10-21
10-3-1 List of specifications .............................................................................................................. 10-21
10-3-2 Outline dimension drawings .................................................................................................. 10-22
10 - 1

10. Specifications
10-1 Power supply unit/drive unit
10-1-1 Installation environment conditions
Common installation environment conditions for servo, spindle and power supply unit are shown below.
Environment
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration/impact
0 to 55°C (with no freezing), Storage: -15°C to 70°C (with no freezing)
90%RH or less (with no dew condensation) Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight)
With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Operation/Storage: 1000 meters or less above sea level, Transportation: 13000 meters or less above sea level
4.9m/s 2 (0.5G) / 49m/s 2 (5G)
10-1-2 Servo drive unit
(1) 1-axis servo drive unit
1-axis servo drive unit MDS-CH-V1 Series
Servo drive unit
type
MDS-CH-V1- 05 10 20 35 45 70 90 110 150 185
Rated output [kW] 0.5 1.0 2.0 3.5 4.5 7.0 9.0 11.0 150 18.5
Rated voltage [V]
456VAC
Output Note Rated current [A] 1.7 2.6 5.0 8.4 11.0 16 18 17 29 39
Input
Rated voltage [V]
513 to 648VDC
Rated current [A] 1.4 2.4 4.6 8.0 10 15 19 20 30 39
Voltage [V] 380 to 440VAC (50Hz) /380 to 480VAC (60Hz) Power fluctuation rate within +6%/-10%
Frequency [Hz] 50/60Hz Frequency fluctuation within ±3%
Control Current [A] Max. 0.1
power Rush current [A] Max. 18
Rush
conductivity [ms] Max. 6
time
Earth leakage current [A] 1 (Max.2)
Control method
Sine wave PWM control method
Braking
Regenerative braking and dynamic brakes
Dynamic brakes Built-in External (MDS-B-DBU-150)
Structure
Open (Protection method: IP00)
Weight [kg] 5.5 6.0 7.0 10.0 15.0
Maximum radiated heat [W] 40 65 105 150 210 320 370 400 550 800
Noise
Less than 55dB
(2) 2-axis servo drive unit
2-axis servo drive unit MDS-CH-V2 Series
Servo drive unit
type
MDS-CH-V2- 0505 1005 1010 2010 2020 3510 3520 3535 4520 4535
Rated output [kW] 0.5+0.5 1.0+0.5 1.0+1.0 2.0+1.0 2.0+2.0 3.5+1.0 3.5+2.0 3.5+3.5 4.5+2.0 4.5+3.5
Rated voltage [V] 456VAC
Output Note Rated current [A] 1.7 / 1.7 2.6 / 1.7 2.6 / 2.6 5.0 / 2.6 5.0/ 5.0 8.4 / 2.6 8.4 / 5.0 8.4/ 8 .4 11.0 / 5.0 11.0 / 8.4
Input
Rated voltage [V] 513 to 648VDC
Rated current [A] 2.8 3.8 4.8 7 9.2 10.4 12.6 16 14.7 18.1
Voltage [V] 380 to 440VAC (50Hz) / 380 to 480VAC (60Hz) Power fluctuation rate within +6%/-10%
Frequency [Hz] 50/60Hz Frequency fluctuation within ±3%
Control
Current [A] Max. 0.1
power Rush current [A] Max. 18
Rush
conductivity [ms] Max. 6
time
Earth leakage current [A] 1 (Max.4 For 2axes)
Control method
Sine wave PWM control method Current control method
Braking
Regenerative braking and dynamic brakes
Dynamic brakes
Built-in
Structure
Open (Protection method: IP00)
Cooling method
Forced wind cooling
Weight [kg] 5.5 6.0
Maximum heating value [W] 80 105 120 180 200 215 240 295 300 345
Noise
Less than 55dB
Note) The listed voltage in the output characteristics is the maximum value, and the current is the motor's continuous rated current
value.
10 - 2

10. Specifications
10-1-3 Spindle drive unit
Spindle drive
unit type
Spindle drive unit MDS-CH-SP[ ] Series
MDS-CH-SP[ ]- 15 37 55 75 110 150 185 220 260 300 370 450 550 750
Continuous rated output [kW] 0.75 2.2 3.7 5.5 7.5 11 15 18.5 22 26 30 37 45 55
Output
Note3
Input
Control
power
Rated voltage [V] 340VAC
Rated current [A] 2.3 7.5 9.0 13 19 25 32 40 49 65 73 87 103 132
Rated voltage [V] 513 to 648VDC
Rated current [A] 2.3 7.1 10 15 21 29 38 47 57 72 82 99 119 150
Voltage [V] 380 to 440VAC (50Hz) / 380 to 480VAC (60Hz) Power fluctuation rate within +6%/-10%
Frequency [Hz] 50 / 60Hz Frequency fluctuation within ±3%
Current [A] Max.0.1A
Rush current [A] Max. 18
Rush
conductivity [ms] Max. 6
time
Earth leakage current
Control method
Braking
Structure
Cooling method
6 (MAX.15)
Sine wave PWM control method
Power supply regeneration braking
Open (Protection method: IP00)
Forced air cooling
Weight [kg] 6.5 6.5 8.5 10.0 15.0 20.0 47.0
Maximum heating value [W] 70 105 145 180 240 315 455 490 645 825 1105 1300 1560 2145
Noise
Less than 55dB
Note1) [ ] is either blank, or a combination of H and M
Note2) C-axis detector [model: MBE90K and MHE90K] cannot be used with MDS-CH-SP[ ] series.
Note3) The listed voltage in the output characteristics is the maximum value, and the current is the motor's continuous rated current
value.
10-1-4 Power supply unit
Power supply
unit type
Power supply unit MDS-CH-CV Series
MDS-CH-CV- 37 55 75 110 150 185 220 260 300 370 450 550 750
Rated output [kW] 3.7 5.5 7.5 11.0 15.0 18.5 22.0 26.0 30.0 37.0 45.0 55.0 75.0
Power capacity [KVA] 5.3 8.0 11.0 16.0 21.0 28.0 32.0 37.0 43.0 53.0 64.0 78.0 107.0
Rated voltage [V] 380 to 440VAC (50Hz) / 380 to 480VAC (60Hz) Power fluctuation rate within +6%/-10%
Input
Output
Frequency [Hz] 50 / 60Hz Frequency fluctuation within ±3%
Rated current [A] 5.2 8.7 13 18 26 35 44 52 61 71 87 106 130
Rated voltage [V] 513 to 648VDC
Rated current [A] 7.1 10 15 21 29 38 47 57 72 82 99 119 150
Control
power
Voltage [V] 380 to 440VAC (50Hz) / 380-480VAC (60Hz) Power fluctuation rate within +6%/-10%
Frequency [Hz] 50 / 60Hz Frequency fluctuation within ±3%
Current [A] Max. 0.1
Rush current
(in contactor ON) [A] Max. 18 Max. 18 Note
(Max. 45)
Max. 6 Note
Rush
conductivity
time
[ms] Max. 6
(in contactor ON)
(Max. 200)
Protective function
Regeneration overvoltage shutdown, overload shutdown,
regeneration fault protection, undervoltage/sudden power outage protection, etc
Structure
Open (Protection method: IP00)
Cooling method
Forced air cooling
Weight [kg] 8.5 10.5 12.5 15.0 20.0 24.0
Maximum heating value [W] 55 65 80 125 155 195 210 260 320 400 500 600 850
Noise
Less than 55dB
Note) The value in the table is rush current and rush current conductivity time when the unit control power is turned ON.
When the contactor is turned ON, rush current for charging flows.
(Max.
260)
10 - 3

10. Specifications
10-1-5 Outline dimension drawings
• MDS-CH-CV-37 to 370
[Unit: mm]
2- 6
2- 6 4- 6
10
15
195
350
FAN
10
15
45
45
60
60
45 60
45
20 180 120
90
120
150
320
CV-37 to 110 CV-150 to 185 CV-220 to 370
• MDS-CH-SP[ ]-15 to 300/MDS-CH-V1-10 to 150/MDS-CH-V2-0505 to 4535
2- 6 2- 6 2- 6 4- 6
10
15
[Unit: mm]
195
350
FAN
30
(Note 1)
30 45 45
60 60
45 60 45
20 180 120
10
15
60
90
120
150
320
V1-05 to 35
V2-0505 to 2020
SP[ ]-15 to 110
V1-45
V2-3510 to 4535
SP[ ]-150 to 185 SP[ ]-220 to 300
V1-70 to 90 V1-110 to 150
10 - 4

10. Specifications
• MDS-CH-SP[ ]-370/MDS-CH-V1-185/MDS-CH-CV-450
11 218
11
[Unit: mm]
10
2- 6 hole 2- 6 hole
20
180
20
178.5
27
26.5
22
380 360
340
37 24
117.5
124.5
10
6
60 120
60
240
20
6
60 120
60
240
63 146
209 114
SP[ ]-370
CV-450
Note) DC connection bar is required. Always install a large capacity drive unit in the left side of power supply unit,
and connect with DC connection bar.
20
• MDS-CH-SP[ ]-450,550/MDS-CH-CV-550
11 278
11
[Unit: mm]
10
2- 6 hole 2- 6 hole
180
20
20
178.5
380 360
27
26.5
22
340
37 24
117.5
124.5
20
20
10
6
60 180
60
300
6
60 180
60
300
63 146
209 120
SP[ ]-450,550
CV-550
Note) DC connection bar is required. Always install a large capacity drive unit in the left side of power supply unit,
and connect with DC connection bar.
10 - 5

10. Specifications
• MDS-CH-CV-750
[Unit: mm]
11 278
11
2- 6 hole
10
2.5
500
480
60 180
300
6
60
10
177 123
300
Note) DC connection bar is required. Always install a large capacity drive unit in the left side of power supply unit,
and connect with DC connection bar.
10 - 6

10. Specifications
• MDS-CH-SP[]-750
[Unit: mm]
450
45 360
45 4-M10 screw
10
30
480
500
440
30
12
45 360
45
10
450
175
350
3.2
175
430
Note) DC connection bar is required. Always install a large capacity drive unit in the left side of power supply unit,
and connect with DC connection bar.
10 - 7

10. Specifications
10-1-6 Terminal layout
When manufacturing the bar connected between units, refer to the following positional relation of the
TE2 and TE3 terminal blocks.
[Unit: mm]
15.8
66.72
40.64
24
32.5
11
27
77
15
16
16
46
46
22
22
52
52
60
90
120
150
66.72
40.64
46.05
46.05
66.05
24
11
43.5
11
27
66
15
16
22
16
22
36
42
10 - 8

10. Specifications
10-1-7 The combination of servo drive unit and a motor
Middle
inertia
Motor
Type
HC-H[_]
2000 r/min
HC-H[_]
3000 r/min
Drive unit
MDS-CH-V1-[_]
05 10 20 35 45 70 90 110 150 185
52 X
102 X
152 X
202 X
352 X
452 X
702 X
902 X
1102 X
1502 X
53 X
103 X
153 X
203 X
353 X
453 X
703 X
903 X
1103 X
Caution 1) "X" indicates the combination of the corresponding motor and unit.
Caution 2) 2-axis integrated servo drive unit (MDS-CH-V2) is the same as the combination of the capacity
of MDS-CH-V1.
10 - 9

10. Specifications
10-2 Servomotor
10-2-1 Specifications list
Servomotor series
Medium inertia HC Series (Rated speed 2000r/min)
INC specification: HC∗∗-E51/-E42, ABS specification: HC∗∗-A51/-A42
Model Servomotor HC- H52 H102 H152 H202 H352 H452 H702 H902 J1102 J1502
Specifications
Drive unit MDS-CH-V1/2- 05 10 20 20 35 45 70 90 150 185
Rated output [kW] 0.5 1.0 1.5 2.0 3.5 4.5 7.0 9.0 11.0 15.0
Continuous Rated current [A] 1.6 2.5 3.8 5.0 8.4 10.6 15.5 18.0 26.6 38.8
charac- Stall current [A] 1.9 3.0 4.3 6.3 10.9 15.8 20.2 29.4 55.8 76.8
teristics Rated torque [N·m] 2.39 4.78 7.16 9.55 16.7 21.5 33.4 43.0 42.0 71.6
Stall torque [N·m] 3.0 6.0 9.0 12.0 22.0 31.9 49.0 70.0 110.0 146.0
Rated rotation speed [r/min] 2000 2500 2000
Maximum rotation speed [r/min] 2000 2500
Maximum current [A] 8.4 11.4 23.8 23.8 31.8 47.7 63.6 71.0 124.0 160.0
Maximum torque [N·m] 10.0 19.0 35.3 41.7 58.0 87.5 120 170.0 230.0 280.0
Power rate at continuous
rated torque
[kW/s] 13.6 33.8 54.2 30.0 67.0 81.0 117.0 89.8 100.0 104.5
Instantaneous angle
acceleration
[rad/s 2 ] 29500 33600 40200 15900 16000 17700 14500 9500 8700 5860
Motor inertia [×10 -4 kg·m 2 ] 4.6 7.4 10.1 30.2 42.9 57.0 95.0 215.0 270.0 550
Motor inertia with brake [×10 -4 kg·m 2 ] 5.1 7.9 10.6 30.7 46.3 60.4 99.5 239.0 194.0 –
High-speed, high-accuracy machine : 3 times or less of motor inertia
Maximum motor shaft conversion
General machine tool
: 5 times or less of motor inertia
load inertia rate
General machine
:10 times or less of motor inertia
Armature resistance
(phase 20°C)
[Ω] 5.8 3.4 2.09 0.68 0.49 0.24 0.173 0.087 0.032 0.0381
Armature inductance
(phase 20°C)
[mH] 53.0 32.6 22.0 13.4 8.7 5.3 4.0 1.45 1.09 0.7026
Inductive voltage constant
(phase 20°C, ±10%)
[mV/r/min] 67.7 83.4 89.8 74.5 81.2 78.3 91.4 85.5 76.2 69.9
Torque constant (±10%) [N·m/A] 1.80 2.39 2.16 2.13 2.32 2.24 2.62 2.82 2.18 1.95
Electrical time constant [ms] 9.1 9.6 10.5 20.0 18.0 22.0 23.0 34.0 34.0 18.4
Mechanical time constant [ms] 2.1 1.82 1.0 1.4 1.2 0.8 0.72 0.7 0.54 1.65
Thermal time constant [min] 15 20 25 35 45 50 55 65 70 26.4
Armature coil temperature
upper limit degree
[°C] 100
Motor side detector
Resolution per motor rotation
E51/A51: 1,000,000 pulse/rev, E42/A42: 100,000 pulse/rev
Structure
Fully closed, self-cooling (protective degree: IP65, IP67)
Environment
Ambient temperature
Ambient humidity
Atmosphere
Elevation
Vibration
Weight Without/with brake
Armature insulation class
[kg]
Operation: 0 to 40°C (non freezing),
Storage/transportation: –15 to 70°C (non freezing)
Operation: 20% to 90%RH (non condensing),
Storage/transportation: 90%RH max. (non condensing)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
5.1/
6.4
7.0/
8.5
Operation/storage: 1000 meters or less above sea level,
Transportation: 10000 meters or less above sea level
8.2/
9.7
15/
16.9
X: 19.6m/s 2 (2G)
Y: 19.6m/s 2 (2G)
19.1/
24.1
Class F
(Note) The above characteristics values are representative values. The maximum current and maximum torque are the values when
combined with the drive unit.
The HC-H1502 motor does not have brakes.
Use HC-H motor with the 200V input-compliant MDS-CH-V1/V2 Unit. It cannot be used with the conventional MDS-B/C1-V1/V2
Unit.
23.2/
28.2
38.5/
44.5
55.4/
65.8
78.7/
89.1
160/–
10 - 10

10. Specifications
Specifications
Servomotor series
Model
Medium inertia HC Series (Rated speed 3000r/min)
INC specification: HC∗∗-E51/-E42, ABS specification: HC∗∗-A51/-A42
Servomotor HC- H53 H103 H153 H203 H353 H453 H703 H903 H1103
Drive unit
MDS-CH-
V1/2-
05 10 20 35 45 70 90 110 150
Rated output [kW] 0.5 1.0 1.5 2.0 3.5 4.5 7.0 9.0 11.0
Rated current [A] 1.7 2.6 3.4 4.8 9.8 10.6 15.0 17.4 28.5
Continuous
characteristics
Stall current [A] 2.6 4.6 6.1 9.0 17.7 23.6 33.0 41.8 59.6
Rated torque [N·m] 1.6 3.3 5.0 6.4 11.2 14.3 22.3 29.1 35.6
Stall torque [N·m] 3.0 5.8 9.0 12.0 22.0 31.9 49.0 70.0 110.0
Rated rotation speed [r/min] 3000
Maximum rotation speed [r/min] 3000
Maximum current [A] 8.4 14.1 23.8 31.8 47.7 63.6 71.0 106.0 124.0
Maximum torque [N·m] 8.0 16.7 28.4 36.0 55.9 79.8 105.0 153.0 210.0
Power rate at continuous rated
torque
[kW/s] 8.7 14.7 24.8 30.0 67.0 81.0 129.0 86.0 100.0
Instantaneous angle acceleration [rad/s 2 ] 22000 26000 32300 15300 15000 16100 13900 8600 7900
Motor inertia [× 10 -4 kg·m 2 ] 4.6 7.4 10.1 30.2 42.9 57.0 87.0 215.0 270.0
Motor inertia with brake [× 10 -4 kg·m 2 ] 5.1 7.9 10.6 30.7 46.3 60.4 91.5 239.0 294.0
High-speed, high-accuracy machine : 3 times or less of motor inertia
Maximum motor shaft conversion
General machine tool
: 5 times or less of motor inertia
load inertia rate
General machine
:10 times or less of motor inertia
Armature resistance
(phase 20°C)
[Ω] 2.7 1.29 1.06 0.34 0.19 0.12 0.077 0.033 0.032
Armature inductance
(phase 20°C)
[mH] 23.4 12.8 10.8 6.4 3.6 2.4 1.8 1.08 1.09
Inductive voltage constant
(phase 20°C, ±10%)
[mV/r/min] 44.9 52.5 62.9 51.6 52.1 52.2 61.0 55.9 76.2
Torque constant (±10%) [N·m/A] 1.28 1.40 1.65 1.48 1.49 1.50 1.75 1.72 2.18
Electrical time constant [ms] 8.7 5.0 10.2 19.0 19.0 20.0 23.0 33.0 34.0
Mechanical time constant [ms] 2.3 2.54 1.0 1.4 1.1 0.9 0.7 0.77 0.54
Thermal time constant [min] 15 20 25 35 45 50 55 65 70
Static friction torque
Armature coil temperature upper
limit degree
Motor side detector
Structure
Environment
[N·m]
Ambient temperature
Ambient humidity
Atmosphere
Elevation
Vibration
Weight Without/with brake
Armature insulation class
[°C] 100
[kg]
Resolution per motor rotation
E51/A51: 1,000,000 pulse/rev, E42/A42: 100,000 pulse/rev
Fully closed, self-cooling (protective degree: IP65, IP67)
Operation: 0 to 40°C (non freezing),
Storage/transportation: –15 to 70°C (non freezing)
Operation: 20% to 90%RH (non condensing),
Storage/transportation: 90%RH max. (non condensing)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
5.1/
6.4
Operation/storage: 1000 meters or less above sea level,
Transportation: 10000 meters or less above sea level
7.0/
8.5
8.2/
9.7
15.0/
16.9
X: 19.6m/s 2 (2G)
Y: 19.6m/s 2 (2G)
19.1/
24.1
Class F
(Note) The above characteristics values are representative values. The maximum current and maximum torque are the values when
combined with the drive unit.
A HC-H motor is only for MDS-CH-V1/V2 Unit. It cannot be used for MDS-B/C1-V1/V2 Unit.
23.2/
28.2
38.5/
44.5
55.4/
65.8
78.7/
89.1
10 - 11

10. Specifications
10-2-2 Torque characteristics
(1) HC-H Series
20
[HC-H52]
40
[HC-H102]
40
[HC-H152]
15
30
30
Torque [N . m]
10
5
Short time
operation range
Torque [N . m]
20
10
Short time
operation range
Torque [N . m]
20
10
Short time
operation range
Continuous
operation range
0
0 1000 2000
Continuous
operation range
0
0 1000 2000
0
Continuous
operation range
0 1000 2000
Rotation speed [r/min]
Rotation speed [r/min]
Rotation speed [r/min]
50
[HC-H202]
75
[HC-H352]
100
[HC-H452]
40
60
80
Torque [N . m]
30
20
Short time
operation range
Torque [N . m]
45
30
Short time
operation range
Torque [N . m]
60
40
Short time
operation range
10
0
Continuous
operation range
0 1000 2000
15
0
Continuous
operation range
0 1000 2000
20
0
Continuous
operation range
0 1000 2000
Rotation speed [r/min]
Rotation speed [r/min]
Rotation speed [r/min]
150
[HC-H702]
250
[HC-H902]
250
[HC-H1102]
120
200
200
Torque [N . m]
90
60
Short time
operation range
Torque [N . m]
150
100
Short time
operation range
Torque [N . m]
150
100
Short time
operation range
30
0
400
Continuous
operation range
0 1000 2000
Rotation speed [r/min]
[ HC-H1502 ]
50
0
Continuous
operation range
0 1000 2000
Rotation speed [r/min]
50
0
Continuous
operation range
0 1000 2000
Rotation speed [r/min]
2500
Torque [N . m]
300
200
100
Short time
operation range
(Note 1)
The above graphs show the data for
the input voltage of 380VAC.
When the input voltage is 380VAC or
less, the short time operation range is
limited.
0
Continuous
operation range
0 1000 2000 2500
Rotation speed [r/min]
10 - 12

10. Specifications
10
[HC-H53]
20
[HC-H103]
40
[HC-H153]
8
15
30
Torque [N . m]
6
4
2
Short time
operation range
Continuous
operation range
0
0 1000 2000 3000
Torque [N . m]
10
5
0
0
Short time
operation range
Continuous
operation range
1000
2000
3000
Torque [N . m]
20
10
0
Short time
operation range
Continuous
operation range
0 1000 2000 3000
Rotation speed [r/min]
Rotation speed [r/min]
Rotation speed [r/min]
60
[HC-H203]
60
[HC-H353]
100
[HC-H453]
45
45
75
Torque [N . m]
30
15
0
Short time
operation range
Continuous
operation range
0 1000 2000 3000
Torque [N . m]
30
15
0
Short time
operation range
Continuous
operation range
0 1000 2000 3000
Torque [N . m]
50
25
0
Short time
operation range
Continuous
operation range
0 1000 2000 3000
Rotation speed [r/min]
Rotation speed [r/min]
Rotation speed [r/min]
120
[HC-H703]
200
[HC-H903]
250
[HC-H1103]
Torque [N . m]
90
60
Short time
operation range
Torque [N . m]
150
100
Short time
operation range
Torque [N . m]
200
150
100
Short time
operation range
30
0
Continuous
operation range
0 1000 2000 3000
50
0
0
Continuous
operation range
1000
2000
3000
50
0
0
Continuous
operation range
1000
2000
3000
Rotation speed [r/min]
Rotation speed [r/min]
Rotation speed [r/min]
(Note 1) The above graphs show the data for the input voltage of 380VAC.
When the input voltage is 380VAC or less, the short time operation range is limited.
10 - 13

10. Specifications
10-2-3 Model configuration
HC-H 20 3 B S - A51
Series name
Rated ouput
Symbol
[kW]
5 0.5
10 1.0
15 1.5
20 2.0
35 3.5
45 4.5
70 7.0
90 9.0
110 11.0
150 15.0
Symbol
B
Magnetic
brakes
Available
Not available
Max. speed
Symbol
[r/min.]
2 2000
3 3000
Symbol
Symbol
S
T
Protective
structure
IP65
Axis end
shape
Straight axis
Tapered
shaft
Detector
Symbol specifications
[p/rev]
A42 ABS: 100,000
A51 ABS: 1,000,000
E42 INC: 100,000
E51 INC: 1,000,000
10 - 14

10. Specifications
10-2-4 Outline dimension drawings
• HC-H52S • HC-H53S
• HC-H102S • HC-H103S
• HC-H152S • HC-H153S
130
45°
2-M6
Motor pulling
55
4
12
L
44
4-ø9 installation hole
Use hexagon socket head bolts.
[Unit: mm]
ø165
ø145
ø110h7
ø24h6
50
41
112
C1
Oil seal
S30457B
KL
21.5
81.5
Detector connector
MS3102A22-14P
Power connector
JL04HV-2E22-22PE-B
• HC-H52T
• HC-H102T
• HC-H152T
130
• HC-H53T
• HC-H103T
• HC-H153T
45°
2-M6
Motor pulling tap
12
4
28 18
12
L
44
4-ø9 installation hole
Use hexagon socket head bolts.
[Unit: mm]
ø165
ø145
ø110h7
ø22
A’
A
112
Plain washer 10
81.5
41
Detector connector
J
MS3102A22-14P
K
H
L
S
N
R
Pin CH-V1/V2
A
B
C
D
E
BT
F
G
H
SD
J
SD
K
RQ
L
RQ
M
N
SD
P
R
5G
S +5V
T
U
V
E
U nut M10×1.2
Tightening torque
23 to 30N•m
Cross-section A-A'
58
0
5 -0.03 25
5
0
4.3 -0.1
Taper 1/10
Oil seal
ø16
KL
10 - 15
21.5
Detector connector
MS3102A22-14P
Power connector
JL04HV-2E22-22PE-B
Power connector
JL04HV-2E22-22PE-B
Servomotor model
2000 r/min 3000 r/min
L
KL
HC-H52 HC-H53 139 59
HC-H102 HC-H103 158 78
HC-H152 HC-H153 179 97
Pin
A
B
C
D
Name
U
V
W
Ground
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. The detector connector pin assignments are common for all HC-H motors.
D
C
A
B
(JAE)

10. Specifications
• HC-H52BS
• HC-H102BS
• HC-H152BS
• HC-H53BS
• HC-H103BS
• HC-H153BS
130
45°
2-M6
Motor pulling tap
55
4 12
L
44
[Unit: mm]
4-ø9 installation hole
Use hexagon socket head bolts.
ø165
ø145
ø110h7
ø24h6
50
C1
Oil seal
112
81.5
41
KL 73.0
21.5
Detector connector
MS3102A22-14P
Power connector
JL04HV-2E22-22PE-B
Brake connector
MS3102A10SL-4P
• HC-H52BT
• HC-H102BT
• HC-H152BT
130
• HC-H53BT
• HC-H103BT
• HC-H153BT
45° 2-M6
Motor pulling tap
4 12
L
44
[Unit: mm]
4-ø9 installation hole
Use hexagon socket head bolts.
ø165
41
ø145
112
5
4.3
ø110h7
5
ø22
Cross-section A-A'
12
28 18
A’
A
Plain washer
10
U nut M10×1.2
Tightening torque
23 to 30N•m
58
25
ø16
Oil seal
Taper 1/10
21.5
KL 73.0
Servomotor model
2000 r/min 3000 r/min
L
KL
HC-H52B HC-H53B 171 59
HC-H102B HC-H103B 190 78
HC-H152B HC-H153B 209 97
Note: Use a friction coupling (Spun ring, etc.) to connect with the load.
81.5
Detector connector
MS3102A22-14P
Power connector
JL04HV-2E22-22PE-B
Brake connector
MS3102A10SL-4P
A
B
Pin
A
B
Brake connector
MS3102A10SL-4P
Name
B1
B2
There is no need for concern
regarding the polarity when
supplying 24VDC.
Power connector
JL04HV-2E22-22PE-B
(JAE)
D
C
A
B
Pin
A
B
C
D
Name
U
V
W
Ground
10 - 16

10. Specifications
• HC-H202S
• HC-H203S
• HC-H352S
• HC-H353S
180
45°
2-M8
Motor pulling tap
79
3
16
BL
L
44
[Unit: mm]
4-ø13.5 installation hole
Use hexagon socket head bolts.
ø230
ø200±0.23
0
-0.025
ø114.3
ø35 +0.010
0
75
C1
81.5
135
Oil seal
46
100
Eye bolt 2-M8
AL
KL
21.5
Detector connector
MS3102A22-14P
Power connector
JL04HV-2E22-22PE-B
Servomotor model
2000 r/min 3000 r/min
L KL AL BL
HC-H202S HC-H203S 180 96 64 20
HC-H352S HC-H353S 203 119 62 45
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. Screw holes for hanging bolt (M8).
Power connector
JL04HV-2E22-22PE-B
D
C
A
B
Pin
A
B
C
D
(JAE)
Name
U
V
W
Ground
• HC-H202BS
• HC-H203BS
• HC-H352BS
• HC-H353BS
180
2-M8
45° Motor pulling tap
79
3
16
BL
L
44
4-ø13.5 installation hole
Use hexagon socket head bolts.
[Unit: mm]
ø230
ø200±0.23
0
-0.025
ø114.3
+0.010
-0.000
ø35
75
C1
81.5
135
Oil seal
AL
21.5
Detector connector
MS3102A22-14P
46
100
Eye bolt 2-M8
KL
Brake connector
MS3102A10SL-4P
A
B
Pin
A
B
77.0
Name
B1
B2
There is no need for concern
regarding the polarity when
supplying 24VDC.
Power connector
JL04HV-2E22-22PE-B
Brake connector
MS3102A10SL-4P
Power connector
JL04HV-2E22-22PE-B
D
C
A
B
Pin
A
B
C
D
(JAE)
Name
U
V
W
Ground
Servomotor model
2000 r/min 3000 r/min
L KL AL BL
HC-H202BS HC-H203BS 216 96 64 20
HC-H352BS HC-H353BS 239 119 62 45
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. Screw holes for hanging bolt (M8).
10 - 17

10. Specifications
• HC-H452S
• HC-H453S
180
• HC-H702S
• HC-H703S
45°
2-M8
Motor pulling tap
79
3
(19)
16
7kW
BL
L
44
[Unit: mm]
4-ø13.5 installation hole
Use hexagon socket head bolts.
ø230
ø200±0.23
0
+0.025
ø114.3
ø35 +0.010
-0.000
C1
75
81.5
124
166
Oil seal
58
100
M8-1.25
Depth 25
Servomotor model
2000 r/min 3000 r/min
L KL AL BL
HC-H452S HC-H453S 234 140 56 39
HC-H702S HC-H703S 314 220 60 115
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. Screw holes for hanging bolt (M8).
AL
KL
21.5
Detector connector
MS3102A22-14P
Power connector
JL04HV-2E32-17PE-B
Power connector
JL04V-2E32-17PE-B
D
C
A
B
Pin
A
B
C
D
Eye bolt 2-M8
(JAE)
Name
U
V
W
Ground
• HC-H452BS
• HC-H453BS
180
• HC-H702BS
• HC-H703BS
45º 2-M8
Motor pulling tap
79
3
(19) 7kW
16 BL
L
44
[Unit: mm]
4-ø13.5 installation hole
Use hexagon socket head bolts.
ø230
ø200±0.23
0
+0.025
+0.010
-0.000
75
ø114.3
ø35
C1
81.5
130
58
100
166
M8-1.25
Depth 25
Oil seal
Servomotor model
2000 r/min 3000 r/min
L KL AL BL
HC-H452BS HC-H453BS 270 140 56 39
HC-H702BS HC-H703BS 362 220 60 115
AL
KL
Brake connector
MS3102A10SL-4P
A
B
Pin
A
B
77.0
21.5
Name
B1
B2
There is no need for concern
regarding the polarity when
supplying 24VDC.
Detector
connector
MS3102A22-14P
Brake connector
MS3102A10SL-14P
Power connector
JL04HV-2E32-17PE-B
Power connector
JL04V-2E32-17PE-B
D
C
A
B
Pin
A
B
C
D
Eye bolt 2-M8
(JAE)
Name
U
V
W
Ground
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. Screw holes for hanging bolt (M8).
10 - 18

10. Specifications
• HC-H902S
• HC-H903S
220
• HC-H1102S
• HC-H1103S
79±1
4
19
BL
L±3
44
4-ø13.5 installation hole
Use hexagon socket head bolts.
45°
ø270
ø235±0.23
0
ø200 -0.046
ø55 -0.019
0
C1
75
162
81.5
2-M10
Motor pulling tap
M10x1.5
Depth 25
AL
KL
21.5
Power connector
JL04V-2E32-17PE-B
22
Detector connector
MS3102A22-14P
60
Eyebolt
2-M8
Power connector
JL04V-2E32-17PE-B
(JAE)
Servomotor model
2000 r/min 3000 r/min
L KL AL BL
HC-H902S HC-H903S 352 256 69 130
HC-H1102S HC-H1103S 425 329 69 200
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. Screw holes for hanging bolt (M8).
D
C
A
B
Pin
A
B
C
D
Name
U
V
W
Ground
• HC-H902BS
• HC-H903BS
220
• HC-H1102BS
• HC-H1103BS
79±1
4
45°
19
BL
L±3
44
4-ø13.5 installation hole
Use hexagon socket head bolts.
ø270
ø235±0.23
0
-0.046
ø200
0
ø55 -0.019
C1
75
162
81.5
2-M10
Motor pulling tap
M10x1.5
Depth 25
AL
KL
Power connector
JL04V-2E32-17PE-B
59
22
21.5 Detector connector
86
MS3102A22-14P
Brake connector
MS3102A10SL-4P
60
Eyebolt
2-M8
Servomotor model
2000 r/min 3000 r/min
L KL AL BL
HC-H902BS HC-H903BS 401 256 69 130
HC-H1102BS HC-H1103BS 474 329 69 200
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. Screw holes for hanging bolt (M8).
Brake connector
MS3102A10SL-4P
A
B
Pin
A
B
Name
B1
B2
There is no need for concern
regarding the polarity when
supplying 24VDC.
Power connector
JL04V-2E32-17PE-B
D
C
A
B
Pin
A
B
C
D
(JAE)
Name
U
V
W
Ground
10 - 19

10. Specifications
• HC-H1502S
6 286
6
11 220
27
128
51
605
426
386
Encoder connector
MS3102A20-29P
25
5
140
280
45
Use hexagon
socket head bolts.
4- 19
350
300
179
230
152
140
60m6
Intake
250h7
25 8
M12
160 -0.5
0
Rotation Direction
105 105
260
108
Oil seal
S659013B
55
127 127
310
20
10 - 20

10. Specifications
10-3 Linear servomotor
10-3-1 List of specifications
Primary side LM-NS5G-60P-X0 Insulation class Class F
Type
LM-NS50-360-X0
1.22 [Ω at 20°C]
Secondary side
Coil resistance
LM-NS50-540-X0
(U-V, V-W, W-U)
Electromotive voltage
51.3 [Vrms/(m/s)/phase] Working ambient temperature 0 to 40 [°C]
constant (at 20°C)
Thrust/
current
(at 20°C)
Speed (maximum) 3.0 [m/s] Installation place Indoors
Continuous rating
(natural-cooling
type)
Continuous rating
(oil-cooling type)
Maximum rating
2,000 [N] / 14.0 [Arms]
6,060[N] / 43.0 [Arms]
15,000 [N] / 124 [Arms]
Thrust/speed
characteristics
*2
Thrust
[N]
15,000
Short-term
rating
Magnet attraction force 42,000 [N] *1
6,060
Drive unit type MDS-CH-V1-150 Continuous
(Oil- cooled)
2,000 rating
Required cooling capacity 5.0 [L/min]
0 Continuous (Natural
Primary side 70.0 [kg]
rating cooling)
Mass Secondary side 15.0 [kg/unit] 0 1.5 3.0
(LM-NS-40-) 22.0 [kg/unit]
Speed [m/s]
*1) The magnet attraction force is a reference value and
is not the specified value.
*2) The continuous thrust when the oil-cooled type is
completed stopped is max. 5,000[N].
The linear servomotor protection method is IP00.
Use explosion-proof oil, etc., as necessary.
Thermal
protector
Type
Operation
temperature
Rated voltage/
current
T145AR3U1 (Matsushita)
145 ± 5 [°C]
6 [Vdc] / 0.15 [A]
125 [Vac] / 3 [A]
250 [Vac] / 2 [A]
CAUTION
To ensure correct use, always carefully read the instruction manual and
materials enclosed with the motor before starting installation, operation,
maintenance or inspections.
10 - 21

10. Specifications
10-3-2 Outline dimension drawings
(1) LM-NP5G-60P-X00 (Primary side type)
11×4 -M8 screw depth 12
Grounding
A
U-phase
B
G1, G2
W-phase
D
C
A
B
V-phase
A
B
MS3106A22-22PD(D190)
MS3106A12S-3P(D190)
CAUTION
1. The cable enclosed with the motor is not a movable cable, so fix the cable to
the machine side to prevent it from moving. For the moving sections, select a
cable that matches the operation speed and bending radius, etc.
2. Use hexagon socket bolts (material SCM435, lower yield point 900[N/mm 2 ] or
more) for installation.
(2) LM-NS50-[_]-X0 (Secondary side type)
n-9 drill
(for secondary side installation)
Nameplate
(type)
Nameplate
(serial No.)
2×2-M8 screw
(for suspension)
Type
Changed dimensions
L K M n
LM-NS50-360-X0 360 3 x 90 (=270) 320 4 x 2
LM-NS50-540-X0 540 5 x 90 (=450) 500 6 x 2
CAUTION
Use hexagon socket bolts (material SCM435, lower yield point 900[N/mm 2 ] or
more) for installation.
10 - 22

11. Selection
11-1 Selection of servomotor ................................................................................................................. 11-2
11-1-1 Servomotor.............................................................................................................................. 11-2
11-1-2 Regeneration methods............................................................................................................ 11-3
11-1-3 Motor series characteristics .................................................................................................... 11-4
11-1-4 Servomotor precision .............................................................................................................. 11-4
11-1-5 Selection of servomotor capacity ............................................................................................ 11-6
11-1-6 Example of servo selection ................................................................................................... 11-10
11-1-7 Motor shaft conversion load torque....................................................................................... 11-13
11-1-8 Expressions for load inertia calculation................................................................................. 11-14
11-1-9 Other precautions.................................................................................................................. 11-15
11-2 Selection of linear servomotor...................................................................................................... 11-16
11-2-1 Maximum feedrate................................................................................................................. 11-16
11-2-2 Maximum thrust..................................................................................................................... 11-16
11-2-3 Continuous thrust .................................................................................................................. 11-18
11-3 Selection of the power supply unit ............................................................................................... 11-20
11-3-1 Selection of the power supply unit capacity .......................................................................... 11-20
11-3-2 Selection with continuous rated capacity .............................................................................. 11-20
11-3-3 Selection with maximum momentary rated capacity............................................................. 11-22
11 - 1

11. Selection
11-1 Selection of servomotor
The methods of selecting the HC-H servomotor are explained in this section.
Refer to section 11-2. Selection of linear servomotor for details on selecting the linear servomotor.
11-1-1 Servomotor
It is important to select a servomotor matched to the purpose of the machine that will be installed. If the
servomotor and machine to be installed do not match, the motor performance cannot be fully realized,
and it will also be difficult to adjust the parameters. Be sure to understand the servomotor characteristics
in this chapter to select the correct motor.
(1) Motor inertia
The servomotor series is mainly categorized according to the motor inertia size.
Select a medium inertia motor when interpolation precision is required, or for machines having a
large load inertia. In general, use HC-H Series motors for the control axis.
The servomotor has an optimum load inertia scale. If the load inertia exceeds the optimum range,
the control becomes unstable and the servo parameters become difficult to adjust. When the load
inertia is too large, decelerate with the gears (The motor axis conversion load inertia is proportional
to the square of the deceleration ratio.), or change to a motor with a large inertia.
Motor shaft conversion recommended load inertia ratio
High-speed, High-accuracy Standards: 3-times or less of motor inertia
General machine tool (interpolation axis): 5-times or less of motor inertia
General machine (non-interpolation): 10-times or less of motor inertia
(2) Rated speed
The motor's rated output is designed to be generated at the rated speed, and the output P (W) is
expressed with expression (11-1). Thus, even when the motors have the same capacity, the rated
torque will differ according to the rated speed.
P = 2πNT (W) .................................................. (11-1)
N : Motor speed (1/s)
T : Output torque (N⋅m)
In other words, even with motors having the same capacities, the one with the lower rated speed will
generate a larger torque. When actually mounted on the machine, if the positioning distance is short and
the motor cannot reach the maximum speed, the motor with the lower rated speed will have a shorter
positioning time. When selecting the motor, consider the axis stroke and usage methods, and select the
motor with the optimum rated speed.
11 - 2

11. Selection
11-1-2 Regeneration methods
When the servomotor decelerates, rotating load inertia or the operation energy of the moving object is
returned to the servo drive unit through the servomotor as electrical power. This is called "regeneration".
The three general methods of processing regeneration energy are shown below.
Table 11-2 Servo drive unit regeneration methods
Regeneration method
1. Capacitor regeneration
method
2. Resistance regeneration
method
3. Power supply
regeneration method
Explanation
This is a regeneration method for small-capacity drive units. The
regeneration energy is charged to the capacitor in the drive unit, and
this energy is used during the next acceleration.
The regeneration capacity decreases as the power supply voltage
becomes higher.
If the capacitor voltage rises too high when regenerating with the
capacitor only, the regenerative electrical power is consumed using
the resistance. If the regeneration energy is small, it will only be
charged to the capacitor. Because regeneration energy becomes
heat due to resistance, heat radiation must be considered.
In large capacity servo drive units the regenerative resistance
becomes large and this is not practical.
This is a method to return the regeneration energy to the power
supply. The regeneration energy is not converted into heat by the
resistor. (Some heat is generated due to the regeneration efficiency
to the power supply.)
Regeneration control is complicated, but there is no need to install a
resistor regeneration unit.
The "3. Power regeneration method" is used for the MDS-CH Series.
POINT
The MDS-CH Series uses a power regeneration method. Connect the
regeneration energy to the power line via an AC reactor. If the AC reactor
connection is improper, the other peripheral devices may not function correctly.
11 - 3

11. Selection
11-1-3 Motor series characteristics
The HC-H Series servomotor is a medium-inertia compact motor for the MDS-CH Series (400V series
input) basic feed axis.
Table 11-3 Motor series characteristics
Motor
series
HC-H
Capacity
(rated speed)
0.5 to 11kW
(2000r/min)
0.5 to 11kW
(3000r/min)
Detector
resolution
1,000,000p/rev/
100,000p/rev
Features
This is a motor for NC unit machine tool feed axes. It has
smooth torque characteristics and is compatible to high
resolution detectors. It has the same shaft shape and
flange size as conventional 200V type HC motors and an
easier to use design. It is drip-proofed against cutting oil
entering the unit, and it clears IP65 specifications for
environmental resistance performance as a standard.
11-1-4 Servomotor precision
The control precision of the servomotor is determined by the detector resolution, motor characteristics
and parameter adjustment. This section examines the following four types of servomotor control
precision when the servo parameters are adjusted. When selecting a servo, confirm that these types of
precision satisfy the machine specifications before determining the servomotor series.
(1) Theoretic precision: ∆ε
This value is determined by the motor detector precision, and is the value obtained by dividing the
movement amount (∆S) per motor rotation by the detector resolution (RNG).
(2) Positioning precision : ∆εp
This is the precision outline that affects the machine targeted for positioning, and expresses the
machine's positioning precision.
When the motor is a single unit, this is determined by the detector resolution and matches with the
theoretic precision ∆εp. When the motor is actually installed on a machine, the positioning precision
∆εp becomes 1 to 2 times the theoretic precision ∆ε. This is due to the effect on the motor control by
the machine rigidity, etc. Furthermore, the value to which the error from the motor shaft to the
machine is added becomes the actual machine positioning precision. For machines requiring
accurate positioning precision at the machine, the scale feedback input can be performed.
(3) Surface precision during machining : ∆εv
This is the precision outline that affects the machine tools, etc., which are important factors in the
machine operation path and interpolation functions. It also affects the surface roughness of the
machining surface. The machining surface roughness is affected by elements caused by the
detector resolution, the motor's electrical characteristics (torque ripple, etc.) and mechanical
characteristics (cogging torque, etc.). In the NC unit feed axis motor (HC-H) those torque
characteristics are excellent, and higher precision machining is possible than that of other motors.
Because the effects of torque ripple and cogging torque are relatively smaller in motors with large
amounts of inertia, the motor with the larger inertia of two identical capacity motors will be more
advantageous for surface precision. Due to the effects of differences in characteristics of the motor
itself, the surface precision during machining will differ greatly according to the motor series.
(4) Absolute position repeatability : ∆εa
This is the precision outline that affects the absolute position system machine, and expresses the
repeatability of the position before the power was shut off and the position when the power is turned
on again.
With the single motor unit, the precision is 1 to 2 times the theoretic precision ∆ε. Note that the
absolute position repeatability ∆εa is the difference from when the power was turned off last and
returned on. This error is not cumulated.
11 - 4

11. Selection
Table 11-4 shows the approximate precision at the motor of each motor series. Obtain the precision at
the machine during actual operating by adding the machine precision to the value in the table.
Table 11-4 Precision by motor series
Motor series
Control
resolution RNG
(p/rev)
HC-H[ ]-A42/E42 (OSA104S2, OSE104S2) 100,000
HC-H[ ]-A51/E51 (OSA253S2, OSE253S2) 1,000,000
Theoretic
precision
∆ε
∆S
RNG
Positioning
precision
∆εp
Surface
precision
∆εv
Absolute
position
repeatability
∆εa
∆ε to 2∆ε 10∆ε to 20∆ε ∆ε to 2∆ε
Table 11-5 Example of precision when movement amount is ∆s = 10mm per motor rotation
(Unit: µm)
Motor series
Theoretic
precision
∆ε
Positioning
precision
∆εp
Surface
precision
∆εv
Absolute
position
repeatability ∆εa
HC-H[ ]-A42/E42 0.1 0.1 to 0.2 1 to 2 0.1 to 0.2
HC-H[ ]-A51/E51 0.1 0.1 to 0.2 1 to 2 0.1 to 0.2
11 - 5

11. Selection
11-1-5 Selection of servomotor capacity
The following three elements are used to determine the servomotor capacity.
1. Load inertia ratio
2. Short time characteristics (acceleration/deceleration torque)
3. Continuous characteristics (continuous effective load torque)
Carry out appropriate measures, such as changing the motor series or increasing the motor capacity, if
any of the above conditions is not fulfilled.
(1) Load inertia ratio
Each servomotor has an appropriate load inertia ratio (load inertia/motor inertia). The control
becomes unstable when the load inertia ratio is too large, and the servo parameter adjustment
becomes difficult. It becomes difficult to improve the surface precision in the feed axis, and the
positioning time cannot be shortened in the position axis because the settling time is longer.
If the load inertia ratio exceeds the recommended value in the servomotor specifications list,
increase the motor capacity or change to a motor series with a large inertia. Note that the
recommended value for the load inertia ratio is strictly one guideline. This does not mean that
controlling a load with inertia exceeding the recommended value is impossible.
POINT
When selecting feed axis servomotors for NC unit machine tools, place
importance on the surface precision during machining. To do this, always select
a servomotor with a load inertia ratio within the recommended value. Select the
lowest value possible within that range.
(2) Short time characteristics
In addition to the continuous operation range, the servomotor has the short time operation range
that can only be used for short times such as acceleration/deceleration. This range is expressed at
the maximum torque. The maximum torque differs for each motor even at the same capacity, so
confirm the specifications in section "10-2 Servomotor".
The maximum torque affects the acceleration/deceleration time constant that can be driven. The
linear acceleration/deceleration time constant ta can be approximated from the machine
specifications using expression (11-2). Determine the maximum motor torque required from this
expression, and select the motor capacity. The same selection can also be made by using the
simple motor capacity selection diagrams on the last pages of this section (11-3).
ta =
(JL + JM) × N
95.5 × (0.8 × TMAX − TL)
(ms) .................................................. (11-2)
N : Motor reach speed (r/min)
JL : Motor shaft conversion load inertia (kg.cm 2 )
JM : Motor inertia (kg.cm 2 )
TMAX : Maximum motor torque
(N.m)
TL : Motor shaft conversion load (friction, unbalance) torque (N.m)
11 - 6

11. Selection
(3) Continuous characteristics
A typical operation pattern is assumed, and the motor's continuous effective load torque (Trms) is
calculated from the motor shaft conversion and load torque. If numbers to in the following
drawing were considered a one cycle operation pattern, the continuous effective load torque is
obtained from the root mean square of the torque during each operation, as shown in the
expression (11-3).
Motor
speed 0
T1
T7
Motor
torque
0
T2
T3
T4
T5
T6
T8
Time
t1 t2 t3 t4
t5 t6 t7 t8
t0
Fig. 11-1 Continuous operation pattern
Trms = T1 2·t1 + T2 2·t2 + T3 2·t3 + T4 2·t4 + T5 2·t5 + T6 2·t6 + T7 2·t7 + T8 2·t8
t0
.................... (11-3)
Select a motor so that the continuous effective load torque Trms is 80% or less of the motor stall
torque Tst.
Trms ≤ 0.8 . Tst .................................................. (11-4)
The amount of acceleration torque (Ta) shown in tables 11-6 and 11-7 is the torque to accelerate
the load inertia in a frictionless state. It can be calculated by the expression (11-5). (For linear
acceleration/ deceleration)
Ta =
(JL + JM) × N
95.5 × ta
(N.m) .................................................. (11-5)
N : Motor reach speed (r/min)
JL : Motor shaft conversion load inertia (kg.cm 2 )
JM : Motor inertia (kg.cm 2 )
ta : Linear acceleration/deceleration time constant (ms)
11 - 7

11. Selection
(3-1) Horizontal axis load torque
When operations to are for a horizontal axis, calculate so that the following torques are
required in each period.
Table 11-6 Load torques of horizontal axes
Period Load torque calculation method Explanation
(Amount of acceleration torque) +
(Kinetic friction torque)
Normally the acceleration/deceleration time constant is
calculated so that this torque is 80% of the maximum torque of
the motor.
(Kinetic friction torque) –
(Amount of deceleration torque) +
(Kinetic friction torque)
(Static friction torque)
− (Amount of acceleration torque) −
(Kinetic friction torque)
− (Kinetic friction torque)
− (Amount of deceleration torque) −
(Kinetic friction torque)
− (Static friction torque)
The absolute value of the acceleration torque amount is same
as one of the deceleration torque amount. The signs for the
amount of acceleration torque and amount of deceleration
torque are reversed.
Calculate so that the static friction torque is always required
during a stop.
The signs are reversed with period when the kinetic friction
does not change according to movement direction.
The signs are reversed with period when the kinetic friction
does not change according to movement direction.
The signs are reversed with period when the kinetic friction
does not change according to movement direction.
Calculate so that the static friction torque is always required
during a stop.
(3-2) Unbalance axis load torque
When operations to are for an unbalance axis, calculate so that the following torques are
required in each period. Note that the forward speed shall be an upward movement.
The torque while the unbalance axis is stopped should be 50% or less than the stall torque (40% or
less for V1-185).
Table 11-7 Load torques of unbalance axes
Period Load torque calculation method Explanation
(Amount of acceleration torque) + (Kinetic
friction torque) + (Unbalance torque)
Normally the acceleration/deceleration time constant is
calculated so that this torque is 80% of the maximum
torque of the motor.
(Kinetic friction torque) + (Unbalance torque) –
(Amount of deceleration torque) + (Kinetic
friction torque) + (Unbalance torque)
(Static friction torque) + (Unbalance torque)
− (Amount of acceleration torque) − (Kinetic
friction torque) + (Unbalance torque)
− (Kinetic friction torque) + (Unbalance torque)
− (Amount of deceleration torque) − (Kinetic
friction torque) + (Unbalance torque)
− (Static friction torque) + (Unbalance torque)
The absolute value of the acceleration torque amount
is same as one of the deceleration torque amount. The
signs for the amount of acceleration torque and
amount of deceleration torque are reversed.
The holding torque during a stop becomes fairly large.
(Upward stop)
The generated torque may be in the reverse of the
movement direction, depending on the size of the
unbalance torque.
–
–
The holding torque becomes smaller than the upward
stop. (Downward stop)
POINT
During a stop, the static friction torque may constantly be applied. The static
friction torque and unbalance torque may be applied during an unbalance axis
upward stop, and the torque during a stop may become extremely large.
Therefore, caution is advised.
11 - 8

11. Selection
< Acceleration/deceleration time constant 1 for servomotors >
When No = Rated speed and PGN1 = 33.
100ms
150ms
H1102
H902
H702
H452
H202
H352
H102
H152
H52
30 50 70ms
1 10 100 1000 10000
150
200 300msec
H1103
H903
H703
H453
H203
H353
H153
H103
H53
50 70
100msec
1 10 100 1000 10000
Motor shaft conversion load inertia (kg.cm 2 )
Fig. 11-2 Simple motor capacity selection diagram
CAUTION
The friction torque and unbalanced torque are not considered in the
acceleration/
deceleration time constants given in Fig. 11-2.
11 - 9

11. Selection
11-1-6 Example of servo selection
A servomotor is selected using a machining center with the following specifications as an example.
Specification item Unit X axis Y axis Z axis
Axis type Linear Linear Linear
Movement direction Horizontal Horizontal Vertical
Table support method Rolling Rolling Rolling
Table movement friction coefficient % 5 5 2
Ball screw diameter mm 40 40 40
Ball screw length mm 900 800 1000
Ball screw lead mm 10 10 10
Deceleration ratio 1 1 2/3
Primary side gear inertia kg.cm 2 − − 1.6
Secondary side gear inertia kg.cm 2 − − 8.1
Motor/ball screw connection section inertia kg.cm 2 2.0 2.0 −
Weight of moving object installed on the
machine (table, etc.)
kg 500 400 400
Weight of standard-added-moving object
(workpiece, etc.)
kg 100 100 10
Rapid traverse rate mm/min 30000 30000 20000
Target acceleration/deceleration time constant ms 120 120 120
Rapid traverse positioning frequency times/min 20 20 20
Motor brake Without Without With
(1) Motor selection calculation
The selection calculation is carried out in order using the Z
axis as an example.
1) Determine the maximum rotation speed
Select the motor from the 2000r/min system or 3000r/min
system
2) Obtaining the load inertia
Calculate the motor shaft conversion load inertia separately
for the rotation load and linear movement load. Furthermore,
calculate the rotation load inertia separately for the primary
and secondary side.
• Primary side rotation load inertia: JR1
This is the primary side gear inertia.
JR1 = 1.6 (kg.cm 2 )
Secondary
side gear
8.1kg·cm 2
10kg
Deceleration ratio = 2/3
400kg
Servomotor
Primary side
gear
1.6kg·cm 2
Ball screw
ø40, 1000mm
Fig. 11-3 Z axis configuration
• Secondary side rotation load inertia: JR2
This is the sum of the ball screw inertia JB and secondary side gear inertia.
The ball screw is generally calculated as a cylinder made of steel.
Refer to section "11-1-8 Expressions for load inertia calculation".
JR2
= JB + 8.1 = π · ρ · L
32
D 4 + 8.1 =
π × 7.80 × 10 −3 × 100
32
× 4 4 + 8.1
= 19.6 + 8.1 = 27.7 (kg.cm 2 )
• Total rotation load inertia: JR
This is the sum of the primary side load inertia and secondary side load inertia. To convert the
secondary side load inertia to the motor shaft (primary side), multiply by the square of the
deceleration ratio.
JR = JR1 + ( 2 3 )2 × JR2 = 1.6 + 4 9 × 27.7 = 1.6 + 12.3 = 13.9 (kg .cm 2 )
• Linear movement load inertia: JT
The inertia is calculated when a standard workpiece, tool, etc., is attached. The conversion to the
motor shaft by the deceleration ratio is included in the movement increment per motor rotation.
Refer to section "11-1-8 Expressions for load inertia calculation".
JT = W . (
∆S
20π
) 2 = (400 + 10) . (
10 × 2
20π × 3 )2 = 4.6 (kg.cm 2 )
11 - 10

11. Selection
• Load inertia: JL
This is the sum of the total rotation load inertia and the linear movement inertia.
JL = 13.9 + 4.6 = 18.5 (kg.cm 2 )
When looking at the load inertia components, the linear movement weight tends to increase.
However, the rotation load generally accounts for most of the inertia. The load inertia does not
change much even if the workpiece weight changes greatly in the table axis.
3) Obtaining unbalance torque
The unbalance torque is obtained from the moving object weight. Here, the drive system efficiency
is calculated as 1.
Refer to section "11-1-7 Motor shaft conversion load torque".
(W 1 − W 2 ) · g · ∆S (410 − 0) × 9.8 × 10 × 2
TU =
2 × 10 3 =
π · η
2 × 10 3 = 4.3 (N.m)
π × 1 × 3
4) Obtaining friction torque
The friction torque is obtained from the moving object weight and friction coefficient. Here, the drive
system efficiency is calculated as 1. Refer to section "11-1-7 Motor shaft conversion load torque".
F · ∆S
TF =
2 × 10 3 π · η = µ · W · g · ∆S 0.02 × 410 × 9.8 × 10 × 2
2 × 10 3 =
π · η 2 × 10 3 = 0.09 (N.m)
π × 1 × 3
5) Selecting the appropriate motor from the load inertia ratio
Because it is a machine tool, the HC-H Motor Series is required for the control precision, and a
motor maximum speed of 3000r/min. or more is required because of the rapid traverse speed and
gear ratio. Furthermore, the motor to be selected is limited to HC-H[ ]B Series because a motor with
a brake is required. The load inertia for all the HC-H53B to HC-H153B motors in the table below is
judged to be appropriate if the load inertia is within 5-fold of the recommended load inertia ratio.
Motor type
Motor inertia Load inertia Load inertia
(kg.cm 2 ) (kg.cm 2 ) magnification
Judgment
HC-H53B 8.6 18.5 2.15 ◦
HC-H103B 15.7 18.5 1.18 ◦
HC-H153B 22.0 18.5 0.84 ◦
6) Selecting the appropriate motor from the short time characteristics
(acceleration/deceleration time constant)
The acceleration/deceleration time constant is calculated using expression (11-2), and it is judged
whether it satisfies the target acceleration/deceleration time constant of 120ms.
HC53B : ta =
HC103B : ta =
HC153B : ta =
(JL + JM) × N
95.5 × (0.8 × TMAX − TU − TF) = (18.5 + 8.6) × 3000
95.5 × (0.8 × 8.82 − 4.3 − 0.09)
(JL + JM) × N
95.5 × (0.8 × TMAX − TU − TF) = (18.5 + 15.7) × 3000
95.5 × (0.8 × 16.7 − 4.3 − 0.09)
(JL + JM) × N
95.5 × (0.8 × TMAX − TU − TF) = (18.5 + 22.0) × 3000
95.5 × (0.8 × 28.4 − 4.3 − 0.09)
11 - 11
= 320.5 (ms)
= 119.9 (ms)
= 69.4 (ms)
The motors that satisfy the conditions from the calculation results above are the HC-H103B and
HC-H153B as shown below.
Motor type
Maximum
torque (N. m)
Total inertia
(kg. cm 2 )
Acceleration/
deceleration time
constant
[ms]
Judgment
HC-H53B 8.82 27.1 320.5 ×
HC-H103B 16.7 34.2 119.9 ◦
HC-H153B 28.4 40.5 69.4 ◦

11. Selection
7) Selecting the appropriate motor from the continuous characteristics
Generally, the expressions (11-3) and (11-4) are calculated following the typical operation pattern,
and the motor is judged from the continuous characteristics. Because the Z axis is the vertical axis
here, the motor will be judged by the stopped torque during an upward stop.
The unbalance axis torque during a stop should be 50% or less of the stall torque. This is one of the
references for motor selection. As shown in the following table, the only motor that satisfies this
reference is HC-H153B. From the judgment in steps (4) to (6) it is the appropriate motor with Z axis.
Motor
type
Stall
torque
(N.m)
Torque during stop
T U +T F (kg.cm 2 )
Load rate
(%)
11 - 12
Judgment
Explanation
HC-H53B 2.9 4.39 151.4 × An overload alarm occurs from just holding.
HC-H103B 5.8 4.39 75.7 ×
There is no allowance for an acceleration/
deceleration operation.
HC-H153B 9.0 4.39 48.8 ◦ The torque during stop should be 50% or less.
(2) Servo selection results
As a result of calculating the servo selection, the servo specifications for the Z axis of this
machining center have been determined.
Item
Type
Servo drive unit
MDS-CH-V1-20
Servomotor HC-H153B[ ]
The [ ] in the motor model will be decided based on separate machine specifications such as motor
shaft shape and absolute position system.
The following table shows the servo selections for all axes.
Item Unit X axis Y axis Z axis
Axis type Linear Linear Linear
Movement direction Horizontal Horizontal Vertical
Table support method Rolling Rolling Rolling
Table movement friction coefficient % 5 5 2
Ball screw diameter mm 40 40 40
Ball screw length mm 900 800 1000
Ball screw lead mm 10 10 10
Deceleration ratio 1 1 2/3
Primary side gear inertia kg.cm 2 − − 1.6
Secondary side gear inertia kg.cm 2 − − 8.1
Motor/ball screw connection section inertia kg.cm 2 2.0 2.0 −
Weight of moving object installed on the machine
(table, etc.)
kg 500 400 400
Weight of standard-added-moving object
(workpiece, etc.)
kg 100 100 10
Rapid traverse rate mm/min 30000 30000 20000
Target acceleration/deceleration time constant ms 120 120 120
Rapid traverse positioning frequency times/min 20 20 20
Motor brake Without Without With
Motor shaft conversion rotation load inertia kg.cm 2 19.6 17.7 13.9
Motor shaft conversion linear movement load
inertia
kg.cm 2 15.2 12.7 4.6
Motor shaft conversion total load inertia kg.cm 2 34.8 30.3 18.5
Motor inertia kg.cm 2 13.7 13.7 22.0
Motor shaft conversion load inertia magnification -fold 2.54 2.22 0.84
Motor shaft conversion unbalance torque N.m 0.0 0.0 4.3
Motor shaft conversion friction torque N.m 0.47 0.39 0.09
Motor shaft conversion total load torque N.m 0.47 0.39 4.39
Motor speed during rapid traverse r/min 3000 3000 3000
Rapid traverse acceleration/deceleration time
constant
ms 118.3 106.7 69.4
Maximum torque during motor stop N.m 0.47 0.39 4.39
Maximum load rate during motor stop % 8.0 6.6 49.8
Servo drive unit model MDS-CH-V1-10 MDS-CH-V1-10 MDS-CH-V1-20
Servomotor model HC-H103[ ] HC-H103[ ] HC-H153B[ ]

11. Selection
11-1-7 Motor shaft conversion load torque
The main load torque calculation expressions are shown below.
Type Mechanism Calculation expression
Linear
movement
Z2
Z1
η
W
F0
FC
TL =
F V
2×10 3 πη . ( N
) =
F.∆S
2×10 3 πη
TL : Load torque (N.m)
F : Force in axial direction of the machine
that moves linearly
(N)
η : Drive system efficiency
V : Speed of object that moves linearly (mm/min)
N : Motor speed (r/min)
∆S : Object movement amount per motor
rotation
(mm)
Z1, Z2 : Deceleration ratio
F in the above expression is obtained from the lower expression
when the table is moved as shown on the left.
F = Fc + µ (W . g + F0)
Fc : Force applied on axial direction of moving section (N)
F0 : Tightening force on inner surface of table guide (N)
W : Total weight of moving section
(kg)
g : Gravitational acceleration = 9.8 (m/s 2 )
µ : Friction coefficient
Rotary
movement
Z1
TLO
Z2
Servomotor
Z 1
1
TL = · η
1 1
Z 2 · TLO + TF = · · TLO + TF
n η
TL : Load torque (N.m)
TLO : Load torque on load shaft (N.m)
TF : Motor shaft conversion load friction torque (N.m)
η : Drive system efficiency
Z 1 , Z 2 : Deceleration ratio
n : Deceleration rate
When rising
TL = TU + TF
Servomotor
When lowering
TL = –TU · η 2 TL : Load + TF torque
TU : Unbalanced torque
TF : Friction torque on moving section
(N.m)
(N.m)
(N.m)
Vertical
movement
1/n
Guide
W1
W2
Load
Counterweight
(W 1 − W 2 ) · g V
TU = · (
N
) =
2 × 10 3 πη
TF =
(W 1 – W 2 ) · g · ∆S
2 × 10 3 πη
W 1
µ · (W 1 + W 2 ) · g · ∆S
2 × 10 3 πη
: Load weight (kg)
W 2 : Counterweight weight (kg)
η : Drive system efficiency
g : Gravitational acceleration = 9.8 (m/s 2 )
V : Speed of object that moves linearly (mm/min)
N : Motor speed (r/min)
∆S : Object movement amount per motor rotation (mm)
µ : Friction coefficient
11 - 13

11. Selection
11-1-8 Expressions for load inertia calculation
The calculation method for a representative load inertia is shown.
Type Mechanism Calculation expression
Cylinder
Rotary
shaft is
cylinder
center
Rotary
ØD1.
π·ρ·L
ØD2. JL = . (D 4 1 – D 4 W
2 ) =
32
8
. (D 2 1 – D 2 2 )
JL : Load inertia [kg.cm 2 Reference data
]
ρ : Density of cylinder material [kg.cm 3 Material densities Iron
] ..... 7.80×10 –3 [kg/cm 3 ]
L : Length of cylinder [cm] Aluminum
D 1 : Outer diameter of cylinder [cm] ..... 2.70×10 –3 [kg/cm 3 ]
D 2 : Inner diameter of cylinder [cm] Copper
W : Weight of cylinder [kg] ..... 8.96×10 –3 [kg/cm 3 ]
shaft
When rotary shaft and cylinder
shaft are deviated
R
JL = W . (D 2 + 8R 2 )
8
Rotary shaft
R
D
JL : Load inertia [kg.cm 2 ]
W : Weight of cylinder
[kg]
D : Outer diameter of cylinder [cm]
R : Distance between rotary axis and
cylinder axis
[cm]
a 2 + b 2
JL = W ( 3 + R 2 )
Column
a
a
b
b
JL : Load inertia [kg.cm 2 ]
W : Weight of cylinder [kg]
a.b.R : Left diagram
[cm]
Rotary shaft
V
1 V
∆S
JL = W (
2πN
·
10
) 2 = W ( 20π ) 2
Object that
moves
linearly
Servomotor
N
W
JL : Load inertia
[kg.cm 2 ]
W : Weight of object that moves linearly [kg]
N : Motor speed
[r/min]
D
JL = W (
D
2
) 2 + JP
Suspended
object
W
JL : Load inertia [kg.cm 2 ]
W : Object weight
[kg]
D : Diameter of pulley
[cm]
JP : Inertia of pulley [kg.cm 2 ]
N3
Load B
JB
J31
N 2
N 1
N 3
N 1
JL = J 11 + (J 21 + J 22 + J A ) ·( ) 2 + (J 31 + J B ) · ( ) 2
Converted
load
J21
Servomotor
J22
N1
N1
Load A
JA
N2
JL : Load inertia [kg.cm 2 ]
JA,JB : Inertia of load A, B [kg.cm 2 ]
J 11 ~J 31 : Inertia [kg.cm 2 ]
N 1 ~N 3 : Each shaft’s speed [r/min]
J11
11 - 14

11. Selection
11-1-9 Other precautions
The following precautions apply when selecting the servomotor.
CAUTION
• The maximum torque that can be used with the motor is limited.
Select a torque at 80% of each motor's specifications.
• For the parallel drive axis calculate the maximum load inertia with the
conditions establishing the maximum load for each axis.
(If the load inertia fluctuates by 30% or more between the parallel driven axes,
the position and speed gain may be limited.)
• The unbalanced torque caused by gravity is calculated with the (unbalanced
torque element when stopped) + (frictional torque).
Select a torque within 50% of the motor stall torque in this case.
A different load is applied on the master and slave axes due to the movement of the
workpiece mounted on the X axis.
Workpiece
X axis
Master axis
Slave axis
Fig.: For parallel drive system (Example)
11 - 15

11. Selection
11-2 Selection of linear servomotor
The linear servomotor must be selected according to the purpose of the machine in which it is installed.
If the installed machine and linear servomotor do not match, the motor's performance will not be utilized
to the fullest, and it will be difficult to adjust the servo parameter. Read through this section to fully
understand the characteristics of the linear servomotor, and select the correct motor.
11-2-1 Maximum feedrate
The maximum feedrate for the LM-N Series linear servomotor is 120m/min. However, there are systems
that cannot reach the maximum speed 120m/min because of the linear scale being used. Refer to the
section "10-3 Linear servomotor" for the main systems and possible maximum feedrates.
11-2-2 Maximum thrust
The linear servomotor has an output range for the continuous thrust that can be used only for short
times such as acceleration/deceleration. If the motor is a natural-cooled type motor, a thrust that is
approx. 6-fold can be output. For an oil-cooled type motor, a thrust that is approx. 3-fold can be output.
The maximum linear motor thrust required for acceleration/deceleration can be approximated using the
machine specifications and expression (3-1). Select the linear servomotor based on these results.
Fmax = (M × a + Ff ) × 1.2 .................................................. (3-1)
Fmax : Maximum motor thrust
(N)
M : Movable mass (including motor's moving sections) (kg)
a : Acceleration during acceleration/deceleration (m/s 2 )
Ff : Load force (including cutting force, friction and unbalance force) (N)
Note that there is a servo response delay as shown on
the right in respect to the acceleration in the
acceleration/ deceleration command set with the NC.
Thus, the acceleration characteristics (thrust
characteristics required for acceleration/deceleration
when movable mass is applied) in respect to the speed
required for the linear servomotor will be as shown on
the next page. (Conditions: Indicates the
characteristics using the position loop gain during SHG
control using a linear acceleration/deceleration
command pattern.) Thus, when selecting the linear
motor, refer to the speed - acceleration (thrust)
characteristics on the next page, and confirm the
speed - thrust characteristics (4-4 Torque
characteristics drawing) for the linear motor.
Speed
Command speed
Servo response
Time
(Note) The speed - acceleration characteristics on the next page are reference values at a specific
condition, so if the position loop gain differs when an S-character acceleration/deceleration filter
is applied on the command, the characteristics will also differ.
11 - 16

11. Selection
[During acceleration: Speed - acceleration
Servo response characteristics]
Maximum speed 120m/min, PGN1=47 (SHG)
F=120m/min,PGN1=47(SHG)
40
35
30
During
acceleration
Command 29.4m/s 2
[During deceleration: Speed - acceleration
Servo response characteristics]
Maximum speed 120m/min, PGN1=47 (SHG)
40
35
30
During
deceleration
F=120m/min,PGN1=47(SHG)
Command 29.4m/s 2
Acceleration(m/s2)
25
20
15
10
Command19.6m/s 2
Command 9.8m/s 2
Acceleration(m/s2)
25
20
15
10
Command19.6m/s 2
Command 9.8m/s 2
5
5
0
0 20 40 60 80 100 120
Velocity(m/min)
Maximum speed 80m/min, PGN1=47 (SHG)
F=80m/min,PGN1=47(SHG)
40
35
30
During
acceleration
Command 29.4m/s 2
0
0 20 40 60 80 100 120
Velocity(m/min)
40
35
30
Maximum speed 80m/min, PGN1=47 (SHG)
F=80m/min,PGN1=47(SHG)
During
deceleration
Command 29.4m/s 2
Acceleration(m/s2)
25
20
15
10
Command19.6m/s 2
Command 9.8m/s 2
Acceleration(m/s2)
25
20
15
10
Command19.6m/s 2
Command 9.8m/s 2
5
5
0
0 20 40 60 80 100 120
Velocity(m/min)
40
35
30
Maximum speed 120m/min, PGN1=100 (SHG)
F=120m/min,PGN1=100(SHG)
During
acceleration
Command 29.4m/s 2
0
0 20 40 60 80 100 120
Velocity(m/min)
Maximum speed 120m/min, PGN1=100 (SHG)
F=120m/min,PGN1=100(SHG)
40
During
35 deceleration
Command 29.4m/s 2
30
Acceleration(m/s2)
25
20
15
10
Command19.6m/s 2
Command 9.8m/s 2
Acceleration(m/s2)
25
20
15
10
Command19.6m/s 2
Command 9.8m/s 2
5
5
Maximum speed 80m/min, PGN1=100 (SHG)
Maximum speed 80m/min, PGN1=100 (SHG)
During
acceleration
Command 29.4m/s 2
During
deceleration
Command 29.4m/s 2
Command19.6m/s 2
Command19.6m/s 2
Command 9.8m/s 2
Command 9.8m/s 2
11 - 17

11. Selection
11-2-3 Continuous thrust
The continuous effective thrust Frms is calculated from the load force using a typical operation pattern.
If the operation pattern consists of the one cycle of to , as shown below, the continuous effective
load thrust can be obtained from the square mean of the thrust for each operation as shown in
expression (3-2).
Motor
speed
0
F1
F7
Motor
thrust
0
F2
F3
F4
F5
F6
F8
Time
t1 t2 t3 t4
t5 t6 t7 t8
t0
Fig. 3-1 Continuous operation pattern
Frms = F1 2·t1 + F2 2·t2 + F3 2·t3 + F4 2·t4 + F5 2·t5 + F6 2·t6 + F7 2·t7 + F8 2·t8
t0
.................... (3-2)
Select the motor so that the continuous effective load thrust Frms is 80% or less of the motor's
continuous thrust Fs.
Frms ≤ 0.8 × Fs .................................................. (3-3)
(1) Load thrust for horizontal axis
If a horizontal axis is used for steps to , calculate so that the following thrust is attained
between each interval.
Table 3-1 Load thrusts for horizontal axis
Interval Load torque calculation expression Explanation
(Acceleration thrust) + (kinetic friction force)
Usually, calculate the acceleration/deceleration time
constant so that this thrust is 80% of the motor's
maximum thrust.
(Kinetic friction force) + (cutting force) –
(Deceleration thrust) + (kinetic friction force)
(Static friction force)
– (Acceleration thrust) – (kinetic friction force)
– (Kinetic friction force) – (cutting force)
– (Deceleration thrust) – (kinetic friction force)
– (Static friction force)
The acceleration thrust and the deceleration thrust
are the same absolute value with reversed signs.
Calculate as a static friction force is always required
when stopped.
If the kinetic friction does not change according to
the moving direction, the sign is the opposite of .
If the kinetic friction does not change according to
the moving direction, the sign is the opposite of .
If the kinetic friction does not change according to
the moving direction, the sign is the opposite of .
Calculate as a static friction force is always required
when stopped.
11 - 18

11. Selection
(2) Load thrust for unbalanced axis
If the operation in steps to is unbalanced, calculate so that the following thrust is attained
between each interval. Note that the forward speed is an upward movement.
Table 3-2 Load thrusts for unbalanced axis
Interval Load torque calculation expression Explanation
(Acceleration thrust) + (kinetic friction force)
+ (unbalance force)
(Kinetic friction force) + (unbalance force)
+ (cutting force)
(Deceleration thrust) + (kinetic friction force)
+ (unbalance force)
(Static friction force) + (unbalance force)
– (Acceleration thrust) – (kinetic friction force)
+ (unbalance force)
– (Kinetic friction force) + (unbalance force)
– (cutting force)
– (Deceleration thrust) – (kinetic friction force)
+ (unbalance force)
– (Static friction force) + (unbalance force)
Usually, calculate the acceleration/deceleration time
constant so that this thrust is 80% of the motor's
maximum thrust.
The acceleration thrust and the deceleration thrust
are the same absolute value with reversed signs.
The holding force when stopped increases greatly.
(Upward stop)
Depending on the size of the unbalanced force, the
generated force may be the opposite of the
movement direction.
The holding force is smaller than the upward stop.
(Downward stop)
–
–
–
POINT
The static friction force may be constantly applied when stopped. During the
upward stop of an unbalanced axis, the static friction force and unbalanced force
are applied, and the thrust increases greatly when stopped.
(3) Maximum cutting force and maximum cutting duty
If the maximum cutting force and maximum duty (%) are known, the selection conditions can be
obtained easily with the following expression.
0.8 × Fs ≥ Fc × D
100
.................................................. (3-4)
Fs : Motor continuous thrust [N]
Fc : Maximum cutting force during operation [N]
D : Maximum cutting duty [%]
(4) Unbalance force
CAUTION
For an unbalanced axis, such as a gravity axis, basically balance it with a device
such as a counterbalance. With the linear motor, the continuous thrust is lower
than the rotary motor, so if the axis is unbalanced the motor's heating amount will
increase. If an error should occur, the axis will drop naturally. This is hazardous
as the dropping distance and dropping speed are large.
11 - 19

11. Selection
11-3 Selection of the power supply unit
11-3-1 Selection of the power supply unit capacity
In addition to "selection following the rated capacity (continuous rated capacity)", select the power
supply unit so that "selection under the maximum momentary rated capacity" are simultaneously
satisfied.
11-3-2 Selection with continuous rated capacity
The rated output used in selection is 30-minute rated output.
(1) When using 1-axis servomotor
Power supply unit rated capacity > Σ (Spindle motor output) + (Servomotor output)
(2) When using 2 or more axes servomotor
Power supply unit rated capacity > Σ (Spindle motor output) + 0.7 × Σ (Servomotor output)
(Note 1) Σ (Spindle motor output) is the total of the spindle motor's short time rated output (kW).
If the output characteristics during acceleration/deceleration differ from the output
characteristics at the constant state, set the larger output in "spindle motor output".
If the short time output characteristics of the spindle motor are less than 10 minutes, multiply
the characteristics with the following coefficient, and set as the "spindle motor output".
Short time output rating time Coefficient Short time output rating time Coefficient
1 minute 0.2 5 minutes 0.7
2 minutes 0.4 6 to 7 minutes 0.8
3 minutes 0.5 8 to 9 minutes 0.9
4 minutes 0.6 10 minutes or more 1.0
To limit the spindle motor's output, set the output multiplied by the limit rate in "spindle motor
output".
Σ (Servomotor output) is the total of the servomotor rated output (kW).
(Note 2) Please check having satisfied the following conditions.
Power supply unit capacity
MDS-CH-CV-185 or less
MDS-CH-CV-220 or more
Motor Output Capacity (Total)
Use is possible to 0.5 [kW] over.
Use is possible to 1.0 [kW] over.
(Note 3) If the selected power supply unit exceeds 55[kW], reduce the number of motors connected to
one power supply unit, and select again using a combination of two or more power supply
units.
11 - 20

11. Selection
(Note 4) For the spindle drive unit, the drive unit capacity may become large depending on the spindle
motor such as high-troupe motor. Make sure that the capacity limit of drive unit which can be
connected is provided depending on the power supply.
Power supply drive unit
Spindle drive unit
MDS-CH-CV- 37 MDS-CH-SP□-15 to 75
55 MDS-CH-SP□-15 to 110
75 MDS-CH-SP□-15 to 150
110 MDS-CH-SP□-15 to 185
150 MDS-CH-SP□-15 to 220
185 MDS-CH-SP□-15 to 260
220 MDS-CH-SP□-15 to 300
260 MDS-CH-SP□-15 to 370
300 MDS-CH-SP□-15 to 450
370 MDS-CH-SP□-15 to 550
450 MDS-CH-SP□-15 to 550
Note that it must be used in combination including MDS-SP□-370 to 550.
550 MDS-CH-SP□-370 to 550
Note that it must be used in combination including MDS-SP□-370 to 550.
750 It can be used in combination with MDS-CH-SP□-750.
11 - 21

11. Selection
11-3-3 Selection with maximum momentary rated capacity
Select the capacity so that the total value of the two outputs "total sum of maximum momentary output
during spindle motor acceleration" and "total sum of maximum momentary output during acceleration of
servomotor that is accelerating and decelerating simultaneously" is not more than the maximum
momentary rated capacity of the power supply unit.
Maximum momentary rated capacity of power supply unit
≥ Σ (Maximum momentary output of spindle motor)
+ Σ (Maximum momentary output of servomotor accelerating/decelerating simultaneously)
If the total value of the right side exceeds 55kW, divide the capacity in two power supply units.
Maximum momentary output of spindle motor
Maximum momentary output of spindle motor
= Spindle motor acceleration/deceleration output × 1.2
Spindle motor acceleration/deceleration output means the maximum output (kW) specified in the
acceleration/deceleration output characteristics, or the maximum output (kW) of the short time rated
output specified at a time of 30 minutes or less.
If there are no specifications other than the 30-minute rated output, the 30-minute rated output will be
the spindle motor acceleration/deceleration output.
Selection data
The maximum momentary output in this table is reference data for selecting the power supply unit
and does not guarantee the maximum output.
Motor model HC-H 52 102 152 202 352 452 702 902 1102
Unit model MDS-CH- V1-05 V1-10 V1-20 V1-20 V1-35 V1-45 V1-70 V1-90 V1-150
Rated output (kW) 0.5 1.0 1.5 2.0 3.5 4.5 7.0 9.0 11.0
Maximum momentary
output (kW)
1.5 2.7 4.5 5.3 7.4 10.6 15 19.5 37.0
Motor model HC-H 53 103 153 203 353 453 703 903 1103
Unit model MDS-CH- V1-05 V1-10 V1-20 V1-35 V1-45 V1-70 V1-90 V1-90 V1-150
Rated output (kW) 0.5 1.0 1.5 2.0 3.5 4.5 7.0 9.0 11.0
Maximum momentary
output (kW)
1.6 3.2 5.4 7.6 10.6 13.7 20.1 29.0 40.0
Unit model MDS-CH-CV- 37 55 75 110 150 185 220 260 300 370 450 550 750
Rated output (kW) 3.7 5.5 7.5 11 15 18.5 22 26 30 37 45 55 75
Maximum momentary
output (kW)
14 19 21 28 41 42 53 54 55 75 91 125 150
CAUTION
When the large capacity drive unit (MDS-CH-V1-185, MDS-CH-SP-370 to
750) is connected to the power supply unit, always install the drive unit
proximally in the left side of the power supply unit and connect PN terminal
with the dedicated DC connection bar.
11 - 22

11. Selection
(1) Selection example
(Example 1) Spindle motor
Servomotor
: 30-minute rated output 22kW × 1 unit
: HC-H352 (V1-35) × 3 units
.... The three units are simultaneously accelerated/decelerated.
(a) Selection with rated capacity
22kW + 0.7 × (3.5kW × 3) = 29.35kW
→ Rated capacity 30kW:
• MDS-CH-CV-300 or more is required.
(b) Selection with maximum momentary rated capacity
22kW × 1.2 + 7.4kW × 3 = 48.6kW
→ Maximum momentary rated capacity 53kW:
• MDS-CH-CV-220 or more is required.
Power supply unit that satisfy conditions (1) and (2):
• Select MDS-CH-CV-300.
(Example 2) Spindle motor
Servomotor
: 30-minute rated output 22kW × 1 unit
: HC-H353 (V1-45) × 1 units
HC-H453 (V1-70) × 2 units
.... The three units are simultaneously accelerated/decelerated.
(a) Selection with rated capacity
22kW + 0.7 × (3.5kW + 4.5kW × 2) = 30.75kW
→ Rated capacity 30kW:
• MDS-CH-CV-300 or more is required.
(b) Selection with maximum momentary rated capacity
22kW × 1.2 + 10.6kW + 13.7kW × 2 = 64.4kW
→ Maximum momentary rated capacity 75kW:
• MDS-CH-CV-370 or more is required.
Power supply unit that satisfy conditions (1) and (2):
• Select MDS-CH-CV-370.
11 - 23

12. Inspection
12-1 Inspections ..................................................................................................................................... 12-2
12-2 Service parts .................................................................................................................................. 12-2
12-3 Daily inspections ............................................................................................................................ 12-3
12-3-1 Maintenance tools ................................................................................................................... 12-3
12-3-2 Inspection positions................................................................................................................. 12-3
12-4. Replacement methods of units and parts....................................................................................... 12-4
12-4-1 Drive unit and power supply unit replacements ....................................................................... 12-4
12-4-2 Battery unit replacements......................................................................................................... 12-4
12-4-3 Cooling fan replacements......................................................................................................... 12-4
12 - 1

12. Inspection
WARNING
CAUTION
1. Turn the main circuit power and control power both OFF before starting
maintenance and inspection. It will take approx. 15 minutes for the main
circuit's capacitor to discharge. After the CHARGE LAMP goes out, use a
tester to confirm that the input and output voltages are zero.
2. Inspections must be carried out by a qualified technician. Failure to observe
this could lead to electric shocks. Contact the Service Center for repairs and
part replacements.
1. Never perform a megger test (measure the insulation resistance) of the servo
drive unit. Failure to observe this could lead to faults.
2. The user must never disassemble or modify this product.
12-1 Inspections
Periodic inspection of the following items is recommended.
Are any of the screws on the terminal block loose? If loose, tighten them.
Is any abnormal noise heard from the servomotor bearings or brake section?
Are any of the cables damaged or cracked? If the cables move with the machine, periodically
inspect the cables according to the working conditions.
Is the core of the load coupling shaft deviated?
12-2 Service parts
A guide to the part replacement cycle is shown below. Note that these will differ according to the working
conditions or environmental conditions, so replace the parts if any abnormality is found. Contact
Mitsubishi branch or your dealer for repairs or part replacements.
Servo drive
Spindle drive
Power supply
Part name Standard replacement time Remarks
Smoothing capacitor
10 years
Unit built-in relay
100,000 times
Cooling fan
10,000 to 30,000 hours
(2 to 3 years)
20,000 to 30,000 hours
20,000 to 30,000 hours
5,000 hours
20,000 to 30,000 hours
Bearings
Servomotor
Detector
Spindle motor
Note 1 Oil seal, V-ring
Cooling fan
Battery unit MDS-A-BT-[ ] 45,000 hours (7 years)
AC reactor CH-AL-[_]K At fault
Note 1: The details will differ according to the motor, so refer to the respective motor specifications.
12 - 2
The standard replacement time
is a reference. Even if the
standard replacement time is
not reached, the part must be
replaced if any abnormality is
found.
Power smoothing capacitor : The characteristics of the power smoothing capacitor will deteriorate
due to the effect of ripple currents, etc. The capacitor life is greatly
affected by the ambient temperature and working conditions.
However, when used continuously in a normal air-conditioned
environment, the service life will be ten years.
Relays : Contact faults will occur due to contact wear caused by the switching
current. The service life will be reached after 100,000 cumulative
switches (switching life).
Motor bearings : The motor bearings should be replaced after 20,000 to 30,000 hours
of rated load operation at the rated speed. This will be affected by the
operation state, but the bearings must be replaced when any
abnormal noise or vibration is found in the inspections.
Motor oil seal, V-ring : These parts should be replaced after 5,000 hours of operation at the
rated speed. This will be affected by the operation state, but these
parts must be replaced if oil leaks, etc., are found in the inspections.

12. Inspection
12-3 Daily inspections
12-3-1 Maintenance tools
Prepare the following measuring instruments to check the unit power wiring, etc.
Instrument
Application
Tester
Use this to check that the wiring to the unit is correct before turning the power ON.
Oscilloscope Use this for general measurement and troubleshooting.
AC voltmeter Use this to measure the AC power voltage.
DC voltmeter Use this to measure the DC power voltage. (Relays and I/O, etc.)
AC/DC ammeter Use this to measure the alternating current supplied to the motor.
Driver tool
Use this to remove the unit and to set the rotary switches.
12-3-2 Inspection positions
(1) Unit inspection
Inspection item Inspection
cycle
Points
Remedies
1
2
3
Cooling fan Monthly (1) Rotate by hand to check that the fan rotates smoothly.
(AC fan)
(2) Turn the power ON to check that the fan rotates with force.
(3) Is there any abnormal noise from the bearings?
Contamination/
screw loosening
Wiring
As
required
As
required
Periodically clean the areas outside the unit, particularly the
cooling fan section. Tighten the input/output terminals and
connections.
Check that the wires are not connected to other conductive
sections, and that they are not caught.
Replace the unit
(2) Motor inspection
Inspection item Inspection
cycle
Points
Remedies
1
2
3
4
Noise/vibration Monthly • Check whether any noise or vibration, previously unnoticed, is
occurring.
Check the following items when abnormal.
(1) Check the foundation and installation.
(2) Check the coupling core alignment accuracy.
(3) Check whether vibration is being conveyed from the
coupler.
(4) Check whether the bearings are damaged or are generating
abnormal noise.
(5) Check for vibration or noise at the reduction gears or belt.
(6) Check for abnormalities at the control unit.
(7) Check for abnormalities at the cooling fan.
(8) Check the belt tension.
Temperature
rise
Insulation
resistance value
Cooling fan
Monthly
• Is the bearing temperature abnormal?
(Normally, the temperature should be the ambient temperature
+10 to 40°C.)
• Is the motor frame temperature abnormal?
Check the following items when abnormal.
(1) Is the cooling fan rotating correctly?
(2) Is the cooling fan wind path (between the frame and cover)
obstructed with foreign matter?
(3) Is the load abnormally high?
Clean
(4) Check for abnormalities at the control unit. Refer to
Troubleshooting.
Six months • Is the insulation resistance value abnormally low?
Disconnect the wiring with the spindle drive unit, and perform a
megger test between the circuit batch and ground.
(No problem if the value is 1MΩ or more with a 500V megger.)
If the insulation resistance is 1MΩ or less, the inside of the
motor must be cleaned and dried. To dry, disassemble the
motor, and dry it in a drying furnace set at 90°C or less.
Weekly,
monthly
• Check that the fan is rotating correctly and feeding air, and that
there is no abnormal noise or vibration.
12 - 3

12. Inspection
12-4. Replacement methods of units and parts
CAUTION
Please do not do replacement work except an expertise person.
12-4-1 Drive unit and power supply unit replacements
Replacement
(1) Power off of a cabinet.
(2) All terminal blocks are disconnected with wire.
(3) A fixed screw is loosened and a unit is removed.
Install
(1) Type of a unit is checked and it installs in a cabinet.
(2) Wire is connected correctly.
(3) Connection and installation are reconfirmed.
(4) Power of a cabinet is turned on. It checks whether a machine runs by MDI etc.
12-4-2 Battery unit replacements
Replacement
(1) Power off of a NC system. All connecter is disconnected with wire.
(2) A fixed screw is loosened and a battery unit is removed.
(3) Complete the battery replacement work within the approx. 10 hours that the detector position
information is held.
Install
(1) Type of a battery unit is checked and it installs in a cabinet.
(2) Wire is connected correctly.
(3) Power of a NC system is turned on. It checks whether an alarm etc. Confirm that no alarms, such as
the absolute position illegal alarm, are occurring.
12-4-3 Cooling fan replacements
(1) Remove the screws fixing the cooling fan at the bottom of the unit.
(The mounting position and number of fans differ according to the unit.)
(2) Disconnect the fan power cable.
(The position may differ according to the unit, but the procedure is the same.)
(3) Exchange with the new fan.
Screw
Remove the
connector
12 - 4

Appendix 1. Compliance to EC Directives
1. European EC Directives ......................................................................................................................A1-2
2. Cautions for EC Directive compliance.................................................................................................A1-2
A1 - 1

Appendix 1 Compliance to EC Directives
Appendix 1. Compliance to EC Directives
1. European EC Directives
In the EU Community, the attachment of a CE mark (CE marking) is mandatory to indicate that the basic
safety conditions of the Machine Directives (issued Jan. 1995), EMC Directives (issued Jan. 1996) and
the Low-voltage Directives (issued Jan. 1997) are satisfied. The machines and devices in which the
servo and spindle drive are assembled are the targets for CE marking.
(1) Compliance to EMC Directives
The servo and spindle drive are components designed to be used in combination with a machine or
device. These are not directly targeted by the Directives, but a CE mark must be attached to
machines and devices in which these components are assembled. The next section "EMC
Installation Guidelines", which explains the unit installation and control panel manufacturing method,
etc., has been prepared to make compliance to the EMC Directives easier.
(2) Compliance to Low-voltage Directives
The MDS-CH Series units are targeted for the Low-voltage Directives. An excerpt of the
precautions given in this specification is given below. Please read this section thoroughly before
starting use.
A Self-Declaration Document has been prepared for the EMC Directives and Low-voltage
Directives. Contact Mitsubishi or your dealer when required.
2. Cautions for EC Directive compliance
Use the Low-voltage Directive compatible parts for the servo/spindle drive and servo/spindle motor. In
addition to the items described in this instruction manual, observe the items described below.
(1) Configuration
Isolating
transformer
Drive unit
Electromagnetic
Circuit breaker
contactor
AC reactor
CB MC M
Use a type B (AC/DC detectable type) breaker
(2) Environment
Use the units under an Overvoltage Category III and Pollution Class of 2 or less environment as
stipulated in IEC60664.
These units do not provide protection against electric shock and fire sufficient for the requirements
of the Low-voltage Directive and relevant European standards by themselves, so provide additional
protection (refer to 5.2.4 and 7.1.6.1 of EN50178)
Drive unit
During
operation
Storage
During
transportation
Motor
During
operation
Storage
During
transportatio
n
Ambient
temperature
Humidity
Altitude
0°C to 55°C -15°C to 70°C -15°C to 70°C
90%RH or
less
1000m or
less
90%RH or
less
1000m or
less
90%RH or less
13000m or
less
Ambient
temperature
Humidity
Altitude
0°C to 40°C
80%RH or
less
1000m or
less
-15°C to
70°C
90%RH or
less
1000m or
less
-15°C to 70°C
90%RH or
less
13000m or
less
A1 - 2

Appendix 1 Compliance to EC Directives
(3) Power supply
[1] Use the power supply and servo/spindle drive unit under an Overvoltage Category III as
stipulated in IEC60664.
[2] In case of Overvoltage Category III, connect the PE terminal of the units to the earthed-neutral
of the star-connection power supply system.
[3] Do not omit the circuit breaker and electromagnetic contactor.
(4) Earthing
[1] To prevent electric shocks, always connect the servo/spindle drive unit protective earth (PE)
terminal (terminal with mark) to the protective earth (PE) on the control panel.
[2] When connecting the earthing wire to the protective earth (PE) terminal, do not tighten the wire
terminals together. Always connect one wire to one terminal.
PE terminal
PE terminal
[3] Select the earthing wire size in accordance with Table 1 of EN60204-1.
(5) Wiring
[1] Always use crimp terminals with insulation tubes so that the connected wire does not contact
the neighboring terminals.
Crimp terminal
Insulation tube
[2] Do not connect the wires directly.
Wire
[3] Select the size of the wires for input power supply to Power Supply unit in accordance with
Table 4 and 5 of EN60204-1.
A1 - 3

Appendix 1 Compliance to EC Directives
(6) Peripheral devices
[1] Use EN/IEC Standards compliant parts for the circuit breaker and contactor.
[2] Select circuit breaker with instantaneous trip function. (Trip within 30 second when over
current of 600%). Apply Annex C of EN60204-1 for sizing of the circuit breaker.
(7) Miscellaneous
[1] Refer to the next section "EMC Installation Guidelines" for methods on complying with the
EMC Directives.
[2] Ground the facility according to each country's requirements.
[3] The control circuit connector (◦) is safely separated from the main circuit ( ).
[4] Inspect the appearance before installing the unit. Carry out a performance inspection of the
final unit, and save the inspection records.
Mitsubishi CNC
SV1,2
(CSH21)
SH21 cable
Power supply unit
Spindle drive unit
CN1A CN1B
SH21 cable
Battery unit
CN1A
Servo drive unit
CN1A CN1B
CN4
CN4
CN8
CN4
CN3M
Tool end detector
CN9
CN9
CN7
CN9
CN3L
Tool end detector
External emergency
stop input
CN23
CN6
CN20
CN2L
CN5
CN2M
No-fuse
breaker
AC
reactor
Contactor
U
MU
R
S
T
Ground
Breaker
MC
L1
L2
L3
MC1
L11
L21
TE1
TE3
TE2
L+
L-
L+
L-
L11
L21
TE1
TE2
TE3
V
W
Spindle
motor
PLG
L+
L-
L11
L21
TE1
TE2
TE3
MV
MW
LU
LV
LW
Servo
motor
Motor end
detector
Servo
motor
Motor end
detector
: Main circuit
: Control circuit
Ground
Ground
Ground
A1 - 4

Appendix 2. EMC Installation Guidelines
1. Introduction..........................................................................................................................................A2-2
2. EMC Instructions .................................................................................................................................A2-2
3. EMC Measures....................................................................................................................................A2-3
4. Measures for panel structure...............................................................................................................A2-3
4.1 Measures for control box unit .......................................................................................................A2-3
4.2 Measures for door.........................................................................................................................A2-4
4.3 Measures for operation board panel.............................................................................................A2-4
4.4 Shielding of the power supply input section .................................................................................A2-4
5. Measures for various cables ...............................................................................................................A2-5
5.1 Measures for wiring in box............................................................................................................A2-5
5.2 Measures for shield treatment ......................................................................................................A2-5
5.3 Servomotor power cable...............................................................................................................A2-6
5.4 Servomotor feedback cable ..........................................................................................................A2-6
5.5 Spindle motor power cable ...........................................................................................................A2-7
5.6 Cable between control box and operation board panel................................................................A2-7
6. EMC Countermeasure Parts ...............................................................................................................A2-8
6.1 Shield clamp fitting........................................................................................................................A2-8
6.2 Ferrite core....................................................................................................................................A2-9
6.3 Power line filter ...........................................................................................................................A2-10
6.4 Surge protector ...........................................................................................................................A2-12
A2 - 1

Appendix 2 EMC Installation Guidelines
Appendix 2 EMC Installation Guidelines
1. Introduction
EMC Instructions became mandatory as of January 1, 1996. The subject products must have a CE mark
attached indicating that the product complies with the Instructions. As the NC unit is a component
designed to control machine tools, it is believed that it is not a direct EMC Instruction subject. However,
we would like to introduce the following measure plans to backup EMC Instruction compliance of the
machine tool as the NC unit is a major component of the machine tools.
(1) Methods for installation in control/operation panel
(2) Methods of wiring cable outside of panel
(3) Introduction of countermeasure parts
Mitsubishi is carrying out tests to confirm the compliance to the EMC Standards under the environment
described in this manual. However, the level of the noise will differ according to the equipment type and
layout, control panel structure and wiring lead-in, etc. Thus, we ask that the final noise level be
confirmed by the machine manufacturer.
These contents are the same as the EMC INSTALLATION GUIDELINES (BNP-B8582-45).
For measures for CNC, refer to "EMC INSTALLATION GUIDELINES" (BNP-B2230).
2. EMC Instructions
The EMC Instructions largely regulate the following two withstand levels.
(1) Emission....... Capacity to prevent output of obstructive noise that adversely affects external
sources.
(2) Immunity....... Capacity not to malfunction due to obstructive noise from external sources.
The details of each level are classified as Table 1. It is assumed that the Standards and test details
required for a machine are the same as these.
Table 1
Class Name Details
Emission
Immunity
Radiated noise
Conductive noise
Static electricity
electrical discharge
Radiated magnetic
field
Burst immunity
Conductive
immunity
Power supply
frequency field
Power dip
(fluctuation)
Surge
Electromagnetic noise radiated through the air
Electromagnetic noise discharged from power line
Example) Withstand level of static electricity
discharge from a charged human body
Example) Simulation of immunity from digital
wireless transmitters
Example) Withstand level of noise from relays or
connecting/disconnecting live wires
Example) Withstand level of noise entering
through power line, etc.
Example) 50/60Hz power frequency noise
Example) Power voltage drop withstand level
Example) Withstand level of noise caused by
lightning
Generic
Standard
EN50081-2
EN61800-3
(Industrial
environment)
EN61000-6-2
EN61800-3
(Industrial
environment)
Standards for
determining test
and measurement
EN55011
IEC61000-4-2
IEC61000-4-3
IEC61000-4-4
IEC61000-4-6
IEC61000-4-8
IEC61000-4-11
IEC61000-4-5
A2 - 2

Appendix 2 EMC Installation Guidelines
3. EMC Measures
The main items relating to EMC measures include the following.
(1) Store the device in an electrically sealed metal panel.
(2) Earth all conductors that are floating electrically. (Lower the impedance.)
(3) Wire the power line away from the signal wire.
(4) Use shielded wires for the cables wired outside of the panel.
(5) Install a noise filter.
Take caution to the following items to suppress noise radiated outside of the panel.
(1) Securely install the devices.
(2) Use shielded wires.
(3) Increase the panel's electrical seal. Reduce the gap and hole size.
Note that the electromagnetic noise radiated in the air is greatly affected by the clearance of the panel
and the quality of the cable shield.
4. Measures for panel structure
The design of the panel is a very important factor for the EMC measures, so take the following measures
into consideration.
Operation board panel
Door
Control box
4.1 Measures for control box unit
(1) Use metal for all materials configuring the panel.
(2) For the joining of the top plate and side plates, etc., mask the contact surface with paint, and fix with
welding or screws.
In either case, keeping the joining clearance to a max. of 20cm for a better effect.
(3) Note that if the plate warps due to the screw fixing, etc., creating a clearance, noise could leak from
that place.
(4) Plate the metal plate surface (with nickel, tin) at the earthing section, such as the earthing plate.
(5) The max. tolerable hole diameter of the openings on the panel surface, such as the ventilation holes,
must be 3cm to 5cm. If the opening exceeds this tolerance, use a measure to cover it. Note that
even when the clearance is less than 3cm to 5cm, noise may still leak if the clearance is long.
Example)
Painting mask
Hole exceeding
3cm to 5cm
Painting mask
Max. joining
clearance 20cm
∗ Provide electrical conductance
A2 - 3

Appendix 2 EMC Installation Guidelines
4.2 Measures for door
(1) Use metal for all materials configuring the door.
(2) Use an EMI gasket or conductive packing for the contact between the door and control box unit.
(3) The EMI gasket or conductive packing must contact at a uniform and correct position of the metal
surface of the control box unit.
(4) The surface of the control box unit contacted with the EMI gasket or conductive packing must have
conductance treatment.
Example) Weld (or screw) a welded plate that is plated (with nickel, tin).
EMI gasket
Control box
Packing
Door
Carry out conductance treatment on
sections that the EMI gasket contacts.
(5) As a method other than the above, the control box unit and door can be connected with a plain
braided wire. In this case, the box and door should be contacted at as many points as possible.
4.3 Measures for operation board panel
(1) Always connect the operation board and indicator with an earthing wire.
(2) If the operation board panel has a door, use an EMI gasket or conductive packing between the door
and panel to provide electrical conductance in the same manner as the control box.
(3) Connect the operation board panel and control box with a sufficiently thick and short earthing wire.
Refer to the "EMC INSTALLATION GUIDELINES" BNP-B2230 for the NC for more details.
4.4 Shielding of the power supply input section
(1) Separate the input power supply section from other parts of the control box so that the input power
supply cable will not be contaminated by radiated noise.
(2) Do not lead the power line through the panel without passing it through a filter.
Drive unit
Control unit
Drive unit
Control unit
Radiated
noise
Shielding
plate
Radiated
noise
Power
line filter
Breaker
AC input
Power
line filter
Breaker
AC input
The power supply line noise is eliminated
by the filter, but cable contains noise again
because of the noise radiated in the control
box.
Use a metal plate, etc., for the shielding
partition. Make sure not to create a
clearance.
A2 - 4

Appendix 2 EMC Installation Guidelines
5. Measures for various cables
The various cables act as antennas for the noise and discharge the noise externally. Thus appropriate
treatment is required to avoid the noise. The wiring between the drive unit and motor act as an extremely
powerful noise source, so apply the following measures.
5.1 Measures for wiring in box
(1) If the cables are led unnecessarily in the box, they will easily pick up the radiated noise. Thus, keep
the wiring length as short as possible.
Noise
Noise
Device Device Device Device Device Device
(2) The noise from other devices will enter the cable and be discharged externally, so avoid internal
wiring near the openings.
Control box
Control box
Device Device Device Device
Noise
(3) Connect the control device earthing terminal and earthing plate with a thick wire. Take care to the
leading of the wire.
5.2 Measures for shield treatment
Use of shield clamp fittings is recommended for treating the shields. The fittings are available as options,
so order as required. (Refer to section "6.1 Shield clamp fitting".)
Clamp the shield at a position within 10cm from the panel lead out port.
POINT
1. When leading the cables, including the grounding wire (FG), outside of the
panel, clamp the cables near the panel outlet (recommendation: within
10cm).
2. When using a metal duct or conduit, the cables do not need to be clamped
near the panel outlet.
3. When leading cables not having shields outside the panel, follow the
instructions given for each cable. (Installation of a ferrite core, etc., may be
required.)
A2 - 5

Appendix 2 EMC Installation Guidelines
5.3 Servomotor power cable
Control box
Control box
Earth with paint mask
Conduit connector
To drive unit
Earth with P or U clip
Cannon connector
Servomotor
To drive unit
Conduit
Cannon
connector
Servomotor
Shield cable
Cabtyre cable
Using shield cable
Using conduit
(1) Use four wires (3-phase + earthing) for the power cable that are completely shielded and free from
breaks.
(2) Earth the shield on both the control box side and motor chassis side.
(3) Earth the shield with a metal P clip or U clip.
(A cable clamp fitting can be used depending on the wire size.)
(4) Directly earth the shield. Do not solder the braided shield onto a wire and earth the end of the wire.
Solder
(5) When not using a shield cable for the power cable, use a conventional cabtyre cable. Use a metal
conduit outside the cable.
(6) Earth the power cable on the control box side at the contact surface of the conduit connector and
control box. (Mask the side wall of the control box with paint.)
(7) Follow the treatment shown in the example for the conduit connector to earth the power cable on
the motor side. (Example: Use a clamp fitting, etc.)
Clamp fitting
To earthing
Conduit
Conduit connector
Cannon connector
5.4 Servomotor feedback cable
Control box
To drive unit
Cannon connector
Use a pair shield cable for the
servomotor and spindle motor
feedback cables, and ground them in
the control panel.
Directly mounting a ferrite core onto
the unit connector is also effective in
suppressing noise.
Batch shield pair cable
A2 - 6

Appendix 2 EMC Installation Guidelines
5.5 Spindle motor power cable
Control box
Control box
Earth with paint mask
To drive unit
Earth with
P or U clip
Terminal
box
To drive unit
Conduit
connector
Terminal
box
Spindle motor
Shield cable
Conduit
Cabtyre cable
Using shield cable
Using conduit
(1) Use four wires (3-phase + earthing) for the power cable, that are completely shielded and free from
breaks.
(2) Earth the shield with the same manner as the servomotor power cable.
(3) When not using a shield cable for the power cable, use a conventional cabtyre cable. Use a metal
conduit outside the cable.
(4) Earth the power cable on the control box side at the contact surface of the conduit connector and
control box side wall in the same manner as the servomotor power cable. (Mask the side wall of the
control box with paint.)
(5) Earth at the conduit connector section in the same manner as the servomotor drive cable.
5.6 Cable between control box and operation board panel
SH11 cable (signal cable)
Ferrite core (Within 10cm from device)
Control box
Clamp fitting
enclosed with NC
Operation board box
Board
(1) Use a shield cable for the cable between the
control box and operation board.
(2) Earth the shield in the same manner as the
other cables.
(3) Insert a ferrite core in the SH11 cable at a
position within 10cm from the device.
(This provides a better effect.)
Earth with P or U clip
PD05 cable (power supply cable)
Control box
Operation board box
Board
The PD05 cable is used with the MELDAS500
Series.
Refer to the EMC INSTALLATION GUIDELINES
for each NC for details.
Clamp fitting
enclosed with NC
Earth with P or U clip
A2 - 7

Appendix 2 EMC Installation Guidelines
6. EMC Countermeasure Parts
6.1 Shield clamp fitting
The effect can be enhanced by connecting the cable directly to the earthing plate.
Install an earthing plate near each panel's outlet (within 10cm), and press the cable against the earthing
plate with the clamp fitting.
If the cables are thin, several can be bundled and clamped together.
Securely earth the earthing plate with the frame ground. Install directly on the cabinet or connect with an
earthing wire.
Contact Mitsubishi if the earthing plate and clamp fitting set (AERSBAN-[ ]SET) is required.
View of clamp section
• Outline drawing
Note 1) Screw hole for wiring to earthing plate in cabinet.
Note 2) The earthing plate thickness is 1.6mm.
A B C Enclosed fittings L
AERSBAN-DSET 100 86 30 Two clamp fittings A Clamp fitting A 70
AERSBAN-ESET 70 56 – One clamp fitting B Clamp fitting B 45
A2 - 8

Appendix 2 EMC Installation Guidelines
6.2 Ferrite core
A ferrite core is integrated and mounted on the plastic case.
Quick installation is possible without cutting the interface cable or power cable.
This ferrite core is effective against common mode noise, allowing measures against noise to be taken
without affecting the signal quality.
Recommended ferrite core
TDK ZCAT Series
Shape and dimensions
ZCAT type
ZCAT-A type
A
D
A
E
B
C
B
C
D
Fig. 1 Fig. 2
ZCAT-B type
A
E
ZCAT-C type
A
B
C
D
D
C
B
Fig. 3 Fig. 4
Recommended ferrite core
Unit [mm]
Part name Fig. A B C D E
Applicable cable
outline
ZCAT3035-1330 (-BK)* 1 1 39 34 13 30 --- 13 max. 63
ZCAT2035-0930-M (-BK) 2 35 29 13 23.5 22 10 to 13 29
ZCAT2017-0930B-M (-BK) 3 21 17 9 20 28.5 9 max. 12
ZCAT2749-0430-M (-BK) 4 49 27 4.5 19.5 --- 4.5 max. 26
Weight
*1 A fixing band is enclosed when shipped.
ZCAT-B type: Cabinet fixed type, installation hole ø4.8 to 4.9mm, plate thickness 0.5 to 2mm
ZCAT-C type: Structured so that it cannot be opened easily by hand once closed.
A2 - 9

Appendix 2 EMC Installation Guidelines
6.3 Power line filter
The low leakage current 3-phase inverter and power drive system filter is recommended for the power
line filter. EMC Measures have been confirmed by Mitsubishi using the following filter.
Install on the primary side (factory power side) of the AC reactor.
OKAYA Electric Industries Co., Ltd. 3SUP-HL-ER-6B Series
• 3-phase, 3-wire type high attenuation type
• CE marking compatible
• Rated current value 30A to 200A
• For EN55011 Class A, B measures
• Application: Primary side of inverter power supply,
UPS, CNC machine tool, etc.
1. Technical specifications
Type
3SUP-HL30-ER-
6B
3SUP-HL50-ER-
6B
3SUP-HL75-ER-
6B
3SUP-HL100-ER
-6B
3SUP-HL150-ER
-6B
Rated current 30A (50°C) 50A (50°C) 75A (50°C) 100A (50°C) 150A (50°C)
Maximum working
voltage
Working
frequency
Leakage current
Connection
terminal
500Vrms (50°C)
50 / 60Hz
8mA (at 500Vrms 60Hz)
[A leakage current will not flow if there is no phase failure in a power supply grounded at a neutral point.]
M4 M6 M6 M6 M8
Weight 5.2kg 6.5kg 12.0kg 12.5kg 23.5kg
Nominal
inductance
Safety standards
6×1.4mH 6×1.4mH 6×1.0mH 6×0.56mH 6×0.6mH
EN133200 (compliant)
These specifications are for reference. Contact the filter maker for detailed data.
Notes:
• If the leakage current is limited, use 3SUP-HL[_]-ER-6B-4 (leakage current 4mA product).
• Please use 3SUP-HL[_]-ER-6 series, when high specification is required.
2. Mechanical data
[unit: mm]
Tolerance: ±1.5mm
A B C D E F G H I J K L
3SUP-HL30-ER-6B 246 230 215 200 100 85 13 18 140 4.5x7 4.5 M4
3SUP-HL50-ER-6B 286 270 255 240 120 90 13 18 150 5.5x7 5.5 M6
3SUP-HL75-ER-6B 396 370 350 330 170 140 18 23 155 6.5x8 6.5 M6
3SUP-HL100-ER-6B 396 370 350 330 170 140 18 23 155 6.5x8 6.5 M6
3SUP-HL150-ER-6B 484 440 420 400 200 170 30 25 200 6.5x8 6.5 M8
3SUP-HL200-ER-6B 484 440 420 400 200 170 30 25 200 6.5x8 6.5 M8
I
2-øJ
L
L
A +1.5/-1.5
B
C +1.5/-1.5
D
2-øK
(G)
Label
(H)
E +4.0/-4.0
F
A2 - 10

Appendix 2 EMC Installation Guidelines
SOHIN ELECTRIC Co., Ltd. HF3000C-TMA series
• 3-phase, 3-wire type high attenuation type
1. Technical specifications
Type HF3030C-TMA HF3050C-TMA HF3060C-TMA HF3080C-TMA HF3100C-TMA HF3150C-TMA HF3200C-TMA
Rated
current
Maximum
working
voltage
Working
frequency
Leakage
current
Rated
current
Connection
terminal
30A 50A 60A 80A 100A 150A 200A
460VAC (50°C)
For Natural grounding
50 / 60Hz
5.3mA (at 460Vrms 60Hz)
[A leakage current will not flow if there is no phase failure in a power supply grounded at a neutral point.]
Rated current x 150% 1min
M5 / M4(E) M6 / M4(E) M6 / M4(E) M8 / M6(E) M8 / M6(E) M10 / M8(E) M10 / M8(E)
Weight 3.2kg 6.7kg 10.0kg 13.0kg 14.5kg 23.0kg 23.5kg
Safety
standards
EN133200 (compliant)
These specifications are for reference. Contact the filter maker for detailed data.
[unit: mm]
Tolerance: ±1.5mm
A B C D E F G H J K L M N
HF3030C-TMA 260 210 85 155 140 125 44 140 70 R3.25 / L8 M5 M4 ---
HF3050C-TMA 290 240 100 190 175 160 44 170 100 R3.25 / L8 M6 M4 ---
HF3060C-TMA 290 240 100 190 175 160 44 230 160 R3.25 / L8 M6 M4 ---
HF3080C-TMA 405 350 100 220 200 180 56 210 135 R4.25 / L12 M8 M6 ---
HF3100C-TMA 405 350 100 220 200 180 56 210 135 R4.25 / L12 M8 M6 ---
HF3150C-TMA 570 550 530 230 190 100 15 210 140 100 M10 M8 33
HF3200C-TMA 570 550 530 230 190 100 15 210 140 100 M10 M8 33
30A to 60A
80A, 100A
150A, 200A
A2 - 11

Appendix 2 EMC Installation Guidelines
6.4 Surge protector
Insert a surge protector in the power input section to prevent damage to the control unit or power supply
unit, etc. caused by the surge (lightning or sparks, etc.) applied on the AC power line.
Use a surge protector that satisfies the following electrical specifications.
(1) Surge protector R, A, V Series Okaya Electric Co., Ltd.
Part name
Circuit
voltage
50/60Hz Vrms
Maximum
tolerable
circuit
voltage
Clamp
voltage
(V) ± 10%
Surge
withstand level
8/20 µS (A)
Surge withstand
voltage
1.2/50 µS (V)
Electrostatic
capacity
Service
temperature
RAV-152BYZ-2A 3AC 430V 500V 1476V 2500A 20kV 35pF -20 to 70°C
Outline dimension drawings
Unit: mm
Tolerance: ±10
Circuit diagram
(1) (2) (3)
Black Black Black
28.5
28
4.5
Refer to the maker's catalog for details on the surge
protector's characteristics and specifications, etc.
41
(2) Surge protector RCM Series Okaya Electric Co., Ltd.
Part name
Rated voltage
AC discharge
start voltage
(V) ± 20%
Surge
withstand level
8/20 µS (A)
Surge withstand
voltage
1.25/50 µS (V)
RCM-781BUZ-4 3AC 250/430V 700VAC 2500A 2kV
RCM-801BUZ-4 3AC 290/500V 800VAC 2500A 2.32kV
For neutral point
grounding
Outline dimension drawings
Unit: mm
Tolerance: ±10
Voltage across three phases is
500Vrms or less
Resin
Treatment
Circuit diagram
Leads
Wire
Case
A2 - 12

Appendix 2 EMC Installation Guidelines
Example of surge protector installation
An example of installing the surge protector in the machine control panel is shown below.
A short-circuit fault will occur in the surge protector if a surge exceeding the tolerance is applied.
Thus, install a circuit protection breaker in the stage before the surge protector. Note that almost no
current flows to the surge protector during normal use, so a breaker installed as the circuit
protection for another device can be used for the surge protector.
Transformer
Breaker
NC unit
Factory
power
Input
380 to
480VAC
Panel earth
leakage
breaker
Breaker
Contactor
MC
AC reactor
Other device
(panel power
supply, etc.)
Power supply
unit and
drive unit
Control panel
(relay panel,
etc.)
A
Other device
(panel power
supply, etc.)
Breaker
(1) Surge protector
(Protection across phases)
B
(2) Surge protector
(Protection across each phase's grounding)
Grounding
Grounding plate
Installing the surge absorber
CAUTION
1. The wires from the surge protector should be connected without extensions.
2. If the surge protector cannot be installed just with the enclosed wires, keep
the wiring length of A and B to 2m or less. If the wires are long, the surge
protector's performance may drop and inhibit protection of the devices in the
panel.
A2 - 13

Appendix 3. EC Declaration of conformity
1. Low voltage equipment........................................................................................................................A3-2
2. Electromagnetic compatibility............................................................................................................A3-12
A3 - 1

Appendix 3 EC Declaration of conformity
Appendix 3 EC Declaration of conformity
MDS-CH Series can respond to LVD and EMC directive.
Approval from a third party certification organization has been acquired for the Low Voltage Directive.
The declaration of conformity of each unit is shown below.
1. Low voltage equipment
MDS-CH-CV-37 to 370
A3 - 2

Appendix 3 EC Declaration of conformity
Supplement: Refer to "Chapter 10 Specifications" for the rated values indicated in (See Appendix 1).
A3 - 3

Appendix 3 EC Declaration of conformity
MDS-CH-CV-450 to 750
A3 - 4

Appendix 3 EC Declaration of conformity
Supplement: Refer to "Chapter 10 Specifications" for the rated values indicated in (See Appendix 1).
A3 - 5

Appendix 3 EC Declaration of conformity
MDS-CH-V1-05 to 150
MDS-CH-V2-0505 to 4535
A3 - 6

Appendix 3 EC Declaration of conformity
Supplement: Refer to "Chapter 10 Specifications" for the rated values indicated in (See Appendix 1).
A3 - 7

Appendix 3 EC Declaration of conformity
MDS-CH-SP[_]-04 to 300
A3 - 8

Appendix 3 EC Declaration of conformity
Supplement: Refer to "Chapter 10 Specifications" for the rated values indicated in (See Appendix 1).
A3 - 9

Appendix 3 EC Declaration of conformity
MDS-CH-SP[_]-370 to 750
A3 - 10

Appendix 3 EC Declaration of conformity
Supplement: Refer to "Chapter 10 Specifications" for the rated values indicated in (See Appendix 1).
A3 - 11

Appendix 3 EC Declaration of conformity
2. Electromagnetic compatibility
MDS-CH-CV-37 to 370
A3 - 12

Appendix 3 EC Declaration of conformity
MDS-CH-V1-05 to 150
MDS-CH-V2-0505 to 4535
A3 - 13

Appendix 3 EC Declaration of conformity
MDS-CH-SP[_]-04 to 750
A3 - 14

Appendix 4. Instruction Manual for Compliance with
UL/c-UL Standard
1. UL/c-UL listed products .......................................................................................................................A4-2
2. Operation surrounding air ambient temperature .................................................................................A4-3
3. Notes for AC servo/spindle system .....................................................................................................A4-3
3.1 General Precaution.......................................................................................................................A4-3
3.2 Installation.....................................................................................................................................A4-3
3.3 Short-circuit ratings.......................................................................................................................A4-3
3.4 Peripheral devices ........................................................................................................................A4-3
3.5 Field Wiring Reference Table for Input and Output ......................................................................A4-4
3.5.1 Power Supply Unit (MDS-CH-CV) ..........................................................................................A4-4
3.5.2 Spindle Drive Unit (MDS-CH-SP) ...........................................................................................A4-5
3.5.3 Servo Drive Unit (MDS-CH-V1/V2).........................................................................................A4-6
3.6 Motor Over Load Protection..........................................................................................................A4-6
3.6.1 MDS-CH-SP............................................................................................................................A4-7
3.6.2 MDS-CH-V1/V2.......................................................................................................................A4-7
3.7 Flange of servomotor....................................................................................................................A4-7
3.8 Spindle Drive / Motor Combinations .............................................................................................A4-7
4. AC Servo/Spindle System Connection................................................................................................A4-8
A4 - 1

Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
The instruction of UL/c-UL listed products is described in this manual.
The descriptions of this manual are conditions to meet the UL/c-UL standard for the UL/c-UL listed
products. To obtain the best performance, be sure to read this manual carefully before use.
To ensure proper use, be sure to read specification manual, connection manual and maintenance
manual carefully for each product before use.
1. UL/c-UL listed products
[AC servo/spindle system]
Unit name
Unit part number
Power supply unit Note 1 MDS-CH-CV- [*1]
Servo drive unit MDS-CH-V1- [*2], MDS-CH-V2- [*3]
Spindle drive unit MDS-CH-SP [*4]-[*5]
Option unit
MDS-B-PJEX
Battery unit
FCU6-BT[*6], MDS-A-BT-[*7]
Servo motor HC-H [*10][*11][*12][*13]-[*14][*15]
Spindle Motor
SJ-4- [*20][*21][*22]-[*23][*24][*25][*26]-[*27]
SJ-4- [*28][*29][*30][*31][*32][*33][*34]
Suffixes listed below may be attached to the above part numbers at portions marked with [*]. For
details regarding specifications, see the specification manuals.
[*1] 37, 55, 75, 110, 150, 185, 220, 260, 300, 370, 450, 550, 750
[*2] 10, 20, 35, 45, 70, 90, 110, 150
[*3] 2010, 2020, 3510, 3520, 3535, 4520, 4535
[*4] None, H, M
[*5] 22, 37, 55, 75, 110, 150, 185, 220, 260, 300, 370, 450, 550, 750
[*6] 4D1, BOX [*7] 2, 4, 6, 8
[*10] 10, 15, 20, 35, 45, 70, 90, 110 [*11] 2, 3
[*12] None, B [*13] S, T
[*14] A, E [*15] 42, 51
[*20] V, VL, PMF [*18] None, K
[*22] None, S [*23] Two digits decimal two digits
[*24] 01~99 [*25] None, F, G, Y, Z
[*26] None, M [*27] None, S01~S99
[*28] None, K [*29] Two digits decimal two digits
[*30] A, B, L, M, N, X [*31] None, W, Hex
[*32] None, D, H, P, Z [*33] None, B, C, F, G, R
[*34] None, M
Note 1) AC reactor (CH-AL-75 ~ 750) is included in the power supply unit.
A4 - 2

Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
2. Operation surrounding air ambient temperature
The recognized operation ambient temperature of each units are as shown in the table below. The
recognized operation ambient temperatures are the same as an original product specification for all of
the units.
Classification
AC Servo/Spindle
System
Unit name
Operation ambient
temperature
Power supply unit 0 to 55°C
Servo, Spindle drive unit 0 to 55°C
Option unit, Battery unit 0 to 55°C
Servo, Spindle motor 0 to 40°C
3. Notes for AC servo/spindle system
3.1 General Precaution
It takes 15 minutes to discharge the bus capacitor.
When starting wiring or inspection, shut the power off and wait for more than 15 minutes to avoid a
hazard of electrical shock.
3.2 Installation
MDS-CH Series have been approved as the products which have been installed in the electrical
enclosure. The minimum enclosure size is based on 150 percent of each MDS-CH Series combination.
And also, design the enclosure so that the ambient temperature in the enclosure is 55°C (131°F) or less,
refer to the specifications manual.
3.3 Short-circuit ratings
Suitable for use in a circuit capable of delivering, not more than 5kA rms symmetrical amperes.
3.4 Peripheral devices
To comply with UL/c-UL Standard, use the peripheral devices which conform to the corresponding
standard.
- Circuit Breaker, Fuses, Magnetic Contactor and AC Reactor
Applicable power
Fuse Magnetic contactor
Circuit Breaker
supply unit
Class K5 (AC3)
AC Reactor
MDS-CH-CV-37 NF50 10A 20A S-N21 CH-AL-7.5K
MDS-CH-CV-55 NF50 20A 40A S-N21 CH-AL-7.5K
MDS-CH-CV-75 NF50 20A 40A S-N21 CH-AL-7.5K
MDS-CH-CV-110 NF50 30A 60A S-N21 CH-AL-11K
MDS-CH-CV-150 NF50 40A 80A S-N25 CH-AL-18.5K
MDS-CH-CV-185 NF50 50A 100A S-N25 CH-AL-18.5K
MDS-CH-CV-220 NF100 60A 125A S-N35 CH-AL-30K
MDS-CH-CV-260 NF100 75A 150A S-N50 CH-AL-30K
MDS-CH-CV-300 NF100 75A 150A S-N50 CH-AL-30K
MDS-CH-CV-370 NF100 100A 200A S-N65 CH-AL-37K
MDS-CH-CV-450 NF150 125A 250A S-N80 CH-AL-45K
MDS-CH-CV-550 NF150 150A 300A S-N95 CH-AL-55K
MDS-CH-CV-750 NF225 200A 400A S-N150 CH-AL-75K
A4 - 3

Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
- Circuit Breaker for of spindle motor Fan
Select the Circuit Breaker by doubling the spindle motor fan rated.
A rush current that is approximately double the rated current will flow, when the fan is started
- For installation in United States, branch circuit protection must be provided, in accordance with
the National Electrical Code and any applicable local codes.
- For installation in Canada, branch circuit protection must be provided, in accordance with the
Canadian Electrical Code and any applicable provincial codes.
3.5 Field Wiring Reference Table for Input and Output
Use the UL-approved Round Crimping Terminals to wire the input and output terminals of MDS-CH
Series. Crimp the terminals with the crimping tool recommended by the terminal manufacturer.
Following described crimping terminals and tools type are examples of Japan Solderless Terminal Mfg.
Co., Ltd.
This wire size is each unit maximum rating. The selection method is indicated in each specification
manual. (See Manual: No. BNP-C3016 or BNP-A2993-77)
3.5.1 Power Supply Unit (MDS-CH-CV)
Unit Type 37 to 185 220 to 370 450 550 750
L+, L- M6 M6, M10 M10
Screw Torque
[lb in/ N m]
26.6/3.0 26.6/3.0, 177/20 177/20
Terminal L11, L21, MC1 M4 M4
Screw Screw Torque
Size [lb in/ N m]
10.6/1.2 10.6/1.2
L1, L2, L3, M5 M8 M8 M10
Screw Torque
[lb in/ N m]
17.7/2.0 53.1/6.0 53.1/6.0 234.3/26.5
TE2 (L+, L-)
Unit Type 37, 55, 75 110 150 185 220
Wire Size (AWG) #14/60°C #10/60°C #10/60°C #8/60°C #6/60°C
/Temp Rating Note 1 #14/75°C #10/75°C #10/75°C #8/75°C #8/75°C
Crimping Terminals Type 2-6 5.5-6 5.5-6 8-6
14-6
8-6
Crimping Tools Type YHT-2210 YPT-60-21
Unit Type 260 300 370 450,550 750
Wire Size (AWG) #4/60°C #2/60°C #2/60°C The bus-bar is attached
/Temp Rating Note 1 #6/75°C #4/75°C #4/75°C to the product.
Crimping Terminals Type
22-6 38-S6 38-S6
14-6 22-6 22-6
Crimping Tools Type
YPT-60-21
TE3 (L11, L21, MC1)
Unit Type 37 to 750
Wire Size (AWG) #16/ 60°C
/Temp Rating Note 1 #16/ 75°C
Crimping Terminals Type 1.25-4
Crimping Tools Type YHT-2210
A4 - 4

Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
TE1 (L1, L2, L3)
Unit Type 37,55,75 110 150 185 220
Wire Size (AWG) #14/60°C #12/60°C #10/60°C #8/60°C #8/60°C
/Temp Rating Note 1 #14/75°C #12/75°C #10/75°C #8/75°C #8/75°C
Crimping Terminals Type 2-4 5.5-S4 5.5-5 8-5 8-8
Crimping Tools Type YHT-2210 YPT-60-21
Earth Wire Size (AWG)
#14/60°C #12/60°C #10/60°C #8/60°C #8/60°C
#14/75°C #12/75°C #10/75°C #8/75°C #8/75°C
Unit Type 260 300 370 450 550 750
#6/60°C #4/60°C #2/60°C #2/60°C --- ---
Wire Size (AWG)
/Temp Rating Note 1 #1/0 /
#6/75°C #6/75°C #4/75°C #2/75°C #2/75°C
75°C
Crimping Terminals Type
14-8 22-8 38-8 38-10 --- ---
14-8 14-8 22-8 38-10 38-10 60-10
Crimping Tools Type
YPT-60-21
#6/60°C #4/60°C #2/60°C #2/60°C --- ---
Earth Wire Size (AWG)
#1/0
#6/75°C #6/75°C #4/75°C #2/75°C #2/75°C
/75°C
3.5.2 Spindle Drive Unit (MDS-CH-SP)
Terminal
Screw
Size
Unit Type 15 to 37 55 to 185 220 to 300 370 450 to 750
L+, L- M6 M10
Screw Torque 26.6[lbf.in] / 3.0[Nm] 177[lb in] / 20[Nm]
L11, L21 M4 M4
Screw Torque 10.6[lbf.in] / 1.2[Nm] 10.6[lbf.in] /1.2[Nm]
U, V, W, M4 M5 M8 M8 M10
Screw Torque
[lb in/ N m]
10.6/1.2 17.7/2.0 53.1/6.0 53.1/6.0 234.3/26.5
TE2 (L+, L-)
Wire size depends on the Power Supply Unit (MDS-CH-CV Series).
TE3 (L11, L21) (The clamping terminal is not used for 750.)
Unit Type 15~550 750
Wire Size (AWG) #16/ 60°C #16/ 60°C
/Temp Rating Note 1 #16/ 75°C #16/ 75°C
Crimping Terminals Type 1.25-4
Crimping Tools Type YHT-2210
TE1 (U, V, W)
Unit Type 15 to 37 55 110 150 185 220
Wire Size (AWG) #14/60°C #12/60°C #10/60°C #8/60°C
/Temp Rating Note 1 #14/75°C #12/75°C #10/75°C #8/75°C
Crimping Terminals Type
R2-4 5.5-S5 5.5-5 8-5 8-8
R2-4 5.5-S5 5.5-5 8-5 8-8
Crimping Tools Type YHT-2210 YPT-60-21
Earth Wire Size (AWG)
#14/60°C #14/60°C #12/60°C #10/60°C #8/60°C #8/60°C
#14/75°C #14/75°C #12/75°C #10/75°C #8/75°C #8/75°C
A4 - 5

Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
Unit Type 260 300 370 450 550 750
Wire Size (AWG) #6/60°C #4/60°C #2/60°C #2/60°C ---
/Temp Rating Note 1 #8/75°C #6/75°C #4/75°C #2/75°C #2/75°C #1/0/75°C
Crimping Terminals R14-8 22-8 38-8 38-10 ---
Type R8-8 14-8 22-8 38-10 38-10 60-10
Tools Type
YPT-60-21
Earth Wire Size (AWG)
#6/60°C #4/60°C #2/60°C #2/60°C ---
#8/75°C #6/75°C #4/75°C #2/75°C #2/75°C #1/0/75°C
Note 1: 60°C: Polyvinyl chloride insulated wires (IV)
75°C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).
Use copper wire only.
Above listed wire are for use in the electric cabinet on machine or equipment.
3.5.3 Servo Drive Unit (MDS-CH-V1/V2)
Terminal
Screw
Size
Axis 1-axis (V1) 2-axes (V2)
Unit Type 10 to 35 45 to 90 110,150 2010,2020 3510 to 4535
L+, L- M6 M6
Screw Torque 26.6[lbf.in] / 3.0[Nm] 26.6[lb in] / 3.0[Nm]
L11, L21 M4 M4
Screw Torque 10.6[lb in] / 1.2[Nm] 10.6[lb in] / 1.2[Nm]
U, V, W, M4 M5 M8 M4 M5
Screw Torque
[lb in/ N m]
10.6
/1.2
17.7
/2.0
53.1
/6.0
10.6
/1.2
TE2 (L+, L-)
Wire size depends on the Power Supply Unit (MDS-CH-CV Series).
TE3 (L11, L21)
Unit Type 10 to 15
Wire Size (AWG)
#16/ 60°C
/Temp Rating Note 1 #16/ 75°C
Crimping Terminals Type 1.25-4
Crimping Tools Type YHT-2210
TE1 (U, V, W)
Unit Type 10 20 35 45 70 90 110 150
Wire Size (AWG) #14/60°C #14/60°C #12/60°C #12/60°C #10/60°C
/Temp Rating Note 1 #14/75°C #14/75°C #12/75°C #12/75°C #12/75°C #10/75°C
Crimping Terminals Type 2-4 5-5-5 5-5-8 8-8
Crimping Tools Type
YHT-2210
Earth wire Size (AWG)
#14/60°C #14/60°C #12/60°C #12/60°C #10/60°C
#14/75°C #14/75°C #12/75°C #12/75°C #12/75°C #10/75°C
3.6 Motor Over Load Protection
Spindle drive unit MDS-CH-SP and V1/V2 series have each solid-state motor over load protection.
When adjusting the level of motor over load, set the parameter as follows.
17.7
/2.0
A4 - 6

Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
3.6.1 MDS-CH-SP
Parameter
No.
SP063
SP064
Parameter
Abbr.
OLT
OLL
Parameter
Name
Overload
Time
constant
Overload
Detection
level
Setting
Procedure
Set the time constant for
overload detection. (Unit: 1
second.)
Set the overload current
detection level with a
percentage (%) of the
rating.
Standard
Setting Value
60s
Setting
Range
0 to 1000s
110% 1 to 200%
3.6.2 MDS-CH-V1/V2
Parameter
No.
SV021
SV022
Parameter
Abbr.
OLT
OLL
Parameter
Name
Overload
Time
constant
Overload
Detection
level
Setting
Procedure
Set the time constant for
overload detection.
(Unit: 1 second.)
Set the overload current
detection level with a
percentage (%) of the stall
rating.
Standard
Setting Value
60s
Setting
Range
1 to 300s
150% 1 to 500%
3.7 Flange of servomotor
Mount the servomotor on a flange which has the following size or produces an equivalent or higher heat
dissipation effect:
Servo Motor
Flange size (mm)
HC-H
250×250×12 1.0 to 1.5kW
300×300×20 2.0 to 7.0kW
800×800×35 9.0 to 11.0kW
3.8 Spindle Drive / Motor Combinations
Following combinations are the Standard combinations
Rating Output (kW) of Applicable Spindle Motor
Drive Unit Note: 2 SJ-4 Series Note: 1
MDS-CH-SP[_]-15 1.5
MDS-CH-SP[_]-22 2.2
MDS-CH-SP[_]-37 3.7
MDS-CH-SP[_]-55 5.5
MSD-CH-SP[_]-75 5.5, 7.5
MDS-CH-SP[_]-110 5.5, 7.5, 11
MDS-CH-SP[_]-150 7.5, 11, 15
MDS-CH-SP[_]-185 11, 15, 18.5
MDS-CH-SP[_]-220 11, 15, 18.5, 22
MDS-CH-SP[_]-260 11, 15, 18.5, 22, 26
MDS-CH-SP[_]-300 15, 18.5, 22, 26, 30
MDS-CH-SP[_]-370 15, 18.5, 22, 26, 30, 37
MDS-CH-SP[_]-450 22, 26, 30, 37, 45
MDS-CH-SP[_]-550 30, 37, 45, 55
MDS-CH-SP[_]-750 45, 55, 75
Note 1: Applicable unit depends on the range of power constant of motor.
Inquire of Mitsubishi about the detail of the combinations.
Note 2: [_] can be H, M or blank.
A4 - 7

Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
4. AC Servo/Spindle System Connection
MDS-CH-V1/V2 Series MDS-CH-SP[_] Series MDS-CH-CV Series
From NC
CN1A CN1B
CN1A CN1B
Regarding the connection of NC,
see the NC manual book.
CN9
CN4
CN9
CN4
CN4
CN2L CN3L
CN2 CN3
CN5
CN7
CN6
CN8
CN9
Battery Unit
or
Terminator A-TM
L+/L-
L11/L21
Note
CB
: It recommends installing.
MU/MV/MW
MC1
LU/LV/LW
U/V/W
CN23
L1/L2/L3
External Emergency Stop
Refer to specification manual
BNP-C3016
MC
Contactor
Fuse or
Circuit Breaker
AC Reactor
3 phase
380~480VAC
CB
Enclosure Side
Machine Side
Servo Motor
Spindle Motor
Encoder
Servo Motor
FAN
Encoder and
Thermal Protection
Encoder
A4 - 8

Appendix 5. Higher Harmonic Suppression Measure
Guidelines
1. Calculating the equivalent capacity of the higher harmonic generator ...............................................A5-3
1.1 Calculating the total equivalent capacity (Step 1).........................................................................A5-3
1.2 Calculating the higher harmonic current flow (Step 2)..................................................................A5-4
A5 - 1

Appendix 5 Higher Harmonic Suppression Measure Guidelines
Appendix 5 Higher Harmonic Suppression Measure Guidelines
These guidelines apply to users for which the 6-pulse equivalent capacity total of the installed higher
harmonic generator exceeds the reference in the following table. (Note that household appliances and
general-purpose products having a rated current of 20A/phase or less connected to a 300V or less
commercial power supply are excluded from the generators.)
Use the following flow chart to confirm whether the total exceeds the reference.
New installation, expansion or upgrading of facility
Calculation of total equivalent capacity
Reference capacity or less
Total equivalent capacity
Step 1
Reference capacity exceeded
Calculation of higher harmonic current flow
Higher harmonic current
Step 2
Upper limit
value or less
Higher harmonic suppression measures not required
Upper limit value exceeded
Higher harmonic
suppression measures
Higher Harmonic Suppression Guidelines were set in September 1994 by the Ministry of International
Trade and Industry's Agency of Natural Resources and Energy.
• Higher Harmonic Suppression Measure Guidelines for Household Appliances and General-purpose
Products
• Higher Harmonic Suppression Measure Guidelines for Consumers Receiving High Voltage or
Special High Voltage Power
A5 - 2

Appendix 5 Higher Harmonic Suppression Measure Guidelines
1. Calculating the equivalent capacity of the higher harmonic generator
As a principle, the must be met by the consumer.
1.1 Calculating the total equivalent capacity (Step 1)
Calculate the total equivalent capacity with the following expression.
Total equivalent circuit: Po = Σ • Ki • Pi
Ki : Conversion coefficient (Refer to following table)
Pi : Rated input capacity of each device
Unit type
Rated input
capacity
Pi [kVA]
(Table 1) Rated capacity of each unit
Unit type
Rated input
capacity
Pi [kVA]
Unit type
Rated input
capacity
Pi [kVA]
MDS-A/B/C1/CH-SP-37 4.61 MDS-A/B/C1-V1-03 0.6 MDS-A/B/C1-V2-0503 1.6
MDS-A/B/C1/CH-SP-55 6.77 MDS-A/B/C1-V1-05 1.0 MDS-A/B/C1-V2-0505 2.0
MDS-A/B/C1/CH-SP-75 9.07 MDS-A/B/C1/CH-V1-10 1.6 MDS-B/C1-V2-1003 2.2
MDS-A/B/C1/CH-SP-110 13.1 MDS-A/B/C1/CH-V1-20 2.7 MDS-A/B/C1-V2-1005 2.6
MDS-A/B/C1/CH-SP-150 17.6 MDS-A/B/C1/CH-V1-35 4.7 MDS-A/B/C1-V2-1010 3.2
MDS-A/B/C1/CH-SP-185 21.8 MDS-A/B/C1/CH-V1-45 5.9 MDS-A/B/C1-V2-2010 4.3
MDS-A/B/C1/CH-SP-220 25.9 MDS-A/B/C1/CH-V1-70 9.0 MDS-A/B/C1-V2-2020 5.4
MDS-A/B/C1/CH-SP-260 30.0 MDS-A/B/C1/CH-V1-90 11.5 MDS-A/B/C1-V2-3510 6.3
MDS-A/B/C1/CH-SP-300 34.7 MDS-A/B/C1/CH-V1-110 13.1 MDS-A/B/C1-V2-3520 7.4
MDS-B/CH-SP-370 42.8 MDS-A/B/C1/CH-V1-150 17.6 MDS-A/B/C1-V2-3535 9.4
MDS-B/CH-SP-450 52.1 MDS-CH-V1-185 21.8 MDS-A/B/C1-V2-4520 8.6
MDS-B/CH-SP-550 63.7 MDS-A/B/C1-V2-4535 10.6
MDS-CH-SP-750 86.8 MDS-C1-V2-4545 11.8
MDS-C1-V2-7070 18.0
SP: Includes SPA, SPH, SPM and SPX V1: Includes V14 V2: Includes V24
Caution) The rated capacity Pi above, is the value used to calculate whether the product corresponds to the higher harmonic
guidelines. Thus, the value will differ from the actual power facility's capacity. (The power supply unit is not included.)
(Table 2) Circuit class and conversion coefficient for each unit
Name
Model
Circuit
class
Circuit type
Conversion
coefficient Ki
AC servo drive
unit
MDS-A-SVJ
MDS-B-SVJ2
MR-J2-CT Series
3
3-phase bridge (with smoothing capacitor)
Without reactor
K31=3.4
MDS-A-V1/V2
MDS-B-V1/V14/V2/V24
MDS-C1-V1/V2 Series
3
3-phase bridge (with smoothing capacitor)
With AC reactor Note 1
K32=1.8
MDS-CH-V1/V2 Series
3
3-phase bridge (with smoothing capacitor)
With AC reactor Note 1
K32=1.8
AC spindle drive
unit
MDS-A-SPJ
MDS-B-SPJ2 Series
3
3-phase bridge (with smoothing capacitor)
Without reactor
K31=3.4
MDS-A-SP/SPA
MDS-B-SP/SPA/SPH/SPM/SPX
MDS-C1-SP/SPH/SPM/SPX Series
3
3-phase bridge (with smoothing capacitor)
With AC reactor Note 1
K32=1.8
MDS-CH-SP Series
3
3-phase bridge (with smoothing capacitor)
With AC reactor Note 1
K32=1.8
Note 1: This applies when an AC reactor is installed on the power supply unit.
(Table 3) Limit values for total equivalent capacity
Incoming voltage
6.6kV
22/33kV
66kV
Total of 6-pulse equivalent capacity
50kVA
300kVA
2,000kVA
A5 - 3

Appendix 5 Higher Harmonic Suppression Measure Guidelines
If the total equivalent capacity Po exceeds the limit value given in (Table 3), proceed to "1.2 Calculating
the higher harmonic current flow" below.
Measures are not required if the value is not exceeded.
(Example 1)
When using MDS-CH-SP-220/MDS-CH-CV-220 for incoming power voltage
Po = 1.8 × 25.9 = 46.6kVA
Following (Table 3), the limit value 50kVA for 6.6kV is not exceeded, so higher harmonic
measures are not required.
When two sets are used, the value will be 93.2kVA, and the current must be confirmed with Step 2.
1.2 Calculating the higher harmonic current flow (Step 2)
To calculate the higher harmonic current flow, calculate the rated current for the incoming power voltage
conversion.
Rated current for incoming power voltage conversion (mA) = a • Pi
(Table 4)
Incoming power voltage
(Table 5) Upper limit of higher harmonic current flow (mA/kW)
conversion coefficient a
Incoming Coefficient
power voltage a
Conversion
coefficient
5thorder
7thorder
A5 - 4
11thorder
13thorder
17thorder
19thorder
23rdorder
25thorder
6.6kV 87.5 6.6kV 3.5 2.5 1.6 1.3 1.0 0.9 0.76 0.70
22 kV 26.2 22kV 1.8 1.3 0.82 0.69 0.53 0.47 0.39 0.36
33 kV 17.5 33kV 1.2 0.86 0.55 0.46 0.35 0.32 0.26 0.24
66 kV 8.75 66kV 0.59 0.42 0.27 0.23 0.17 0.16 0.13 0.12
77 kV 7.5 77kV 0.50 0.36 0.23 0.19 0.15 0.13 0.11 0.10
Obtain the upper limit of the higher harmonic current flow (judgment value) for each order.
(The contracted electricity must be known for this.)
Upper limit of higher harmonic current flow (mA) = Contracted electricity, flow upper limit value
Flow upper limit value : Insert a value from Table 5 according to the higher harmonic order to
be calculated.
Obtain the higher harmonic current flow for each order using the following expression.
Higher harmonic current flow (mA) = (a • Pi), Device's maximum operation rate, target order
Device's maximum operation rate : The user must set the operation rate.
Target order
: Insert a value from Table 6 according to the higher
harmonic order to be calculated.
Conversion
coefficient
(Table 6) Higher harmonic current generation rate %
5thorder
7thorder
11thorder
13thorder
17thorder
19thorder
23rdorder
25thorder
K32 = 1.8 38.0 14.5 7.4 3.4 3.2 1.9 1.7 1.3
K31 = 3.4 65.0 41.0 8.5 7.7 4.3 3.1 2.6 1.8
Values when basic wave current is 100%.
Check whether the calculated results exceed the limit value.
If the limit value for the higher harmonic current flow is exceeded, consider the higher harmonic
measures shown below.
Examples of higher harmonic measures
Item
Power-factor improving capacitor
Installation of AC line filter
Details
Higher harmonics are suppressed by adding a leading capacitor for improving the power
factor.
A reactor and capacitor are combined to reduce the impedance for specific frequencies.

Appendix 5 Higher Harmonic Suppression Measure Guidelines
1.3 Higher harmonic current flow calculation form
A higher harmonic current flow calculation form is shown below for reference.
User
name
Higher harmonic generating device's higher harmonic current flow calculation form (Part 1)
Industry
Incoming
power voltage
kV Contracted
electricity
kW
Date of application
Application No.
Date of acceptance
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Higher harmonic generating
device
Device name Maker Type
Step 1: Details of higher harmonic generating device Step 2: Calculation of higher harmonic current flow rate
Rated
capacity
(kVA)
Qty. of
devices
Total
capacity
Pi (kVA)
Circuit
type classification
No.
6-pulse
calculation
coefficient
Ki
6-pulse
equivalent
capacity
[Ki×Pi](kVA)
Rated current
value for
incoming
power voltage
conversion
[a×Pi] (mA)
Device's
maximum
operation
rate (%)
5thorder
Higher harmonic current flow per order
7thorder
11thorder
13thorder
17thorder
19thorder
23rdorder
25thorder
6-pulse equivalent capacity total P. Total
Necessity of measures
Step 1
Indicate the details of the higher harmonic generating device.
Refer to the reference and indicate the circuit type classification No., etc.
If the device's circuit type classification No. is 10, complete the application shown in
.
If P, > 50kVA (6kV incoming power), 300kVA (22, 33kV incoming power), 2000kVA
(66kV or higher incoming power), proceed to Step 2. (Step 2 does not need to be
completed in all other cases.)
Step 2
If the current flow > current flow upper limit value at each order, then
Higher harmonic current flow upper limit value (Higher harmonic current flow upper limit per
contracted kW x contracted electricity)
Order
Current upper limit value
(mA)
◦ If there is a facility that lowers the higher harmonics in the factory, or when suppression measures are implemented, proceed to Calculation Form (Part 2)
◦ In all other cases, separate measures must be taken
5thorder
7thorder
11thorder
13thorder
17thorder
19thorder
23rdorder
25thorder
A5 - 5

Appendix 6. Transportation Restrictions for Lithium
Batteries
Appendix 6-1 Transportation restrictions for lithium batteries..................................................................A6-2
Appendix 6-1-1 Restriction for packing...............................................................................................A6-2
1. Target products.............................................................................................................................A6-2
2. Handling by user ...........................................................................................................................A6-3
3. Reference......................................................................................................................................A6-4
Appendix 6-1-2 Issuing domestic law of the United State for primary lithium battery transportation .A6-5
1. Outline of regulation......................................................................................................................A6-5
2. Target products.............................................................................................................................A6-5
3. Handling by user ...........................................................................................................................A6-5
4. Reference......................................................................................................................................A6-5
A6 - 1

Appendix 6 Transportation Restrictions for Lithium Batteries
Appendix 6-1 Transportation restrictions for lithium batteries
Appendix 6-1-1 Restriction for packing
The United Nations Dangerous Goods Regulations "Article 12" became effective from 2003. When
transporting lithium batteries with means subject to the UN Regulations, such as by air transport,
measures corresponding to the Regulations must be taken. The UN Regulations classify the batteries as
dangerous goods (Class 9) or not dangerous goods according to the lithium content.
To ensure safety during transportation, lithium batteries (battery unit) directly exported from Mitsubishi
are packaged in a dedicated container (UN package) for which safety has been confirmed. When the
customer is transporting these products with means subject to the UN Regulations, such as air transport,
the shipper must follow the details explained in section 2. .
1. Target products
The following Mitsubishi NC products use lithium batteries. The UN Regulations classify the
batteries as dangerous goods (Class 9) or not dangerous goods according to the lithium content.
(Refer to the battery unit's rating nameplate or section "4-1-2 Battery option" for details on the
lithium content.) If the batteries subjected to hazardous materials are incorporated in a device and
shipped, a dedicated packaging (UN packaging) is not required. However, the item must be packed
and shipped following the Packing Instruction 912 specified in the IATA DGR (Dangerous Goods
Regulation) book.
Also, all lithium battery products incorporated in a machinery or device must be fixed securely in
accordance with the Packing Instruction 900 and shipped with protection in a way as to prevent
damage or short-circuits.
(a) Products requiring dedicated packaging (Materials falling under Class 9)
Mitsubishi type
Battery type
Lithium metal
content
MDS-A-BT-4 ER6-B4-11 2.6g
MDS-A-BT-6 ER6-B6-11 3.9g
MDS-A-BT-8 ER6-B8-11 5.2g
Battery
manufacturer
Toshiba Battery
Battery class
Battery
FCU6-BT4-D1
Combination of
ER6-B4D-11 and ER6
2.6g+0.65g
(built-in battery) CR23500SE-CJ5 1.52g Sanyo Battery Battery cell
(b) Products not requiring dedicated packaging (Materials not falling under Class 9)
Mitsubishi type
Battery type
Lithium metal
content
MDS-A-BT-2 ER6-B2-12 1.3g
FCU6-BTBOX 2CR5 1.96g
(built-in battery) CR2032 0.067g
(built-in battery) CR2450 0.173g
(built-in battery) ER6, ER6V 0.7g
MR-BAT MR-BAT 0.48g
Q6BAT Q6BAT 0.49g
Battery
manufacturer
Toshiba Battery
Mitsubishi Electric
Battery
Battery class
Battery
Battery cell
Note 1) Dedicated packaging is required if the shipment exceeds 12 batteries/24 battery cells.
Package the batteries so that this limit is not exceeded.
Note 2) The battery units labeled as "FCUA-" instead of "MDS-A-" also use the same battery.
Note 3) Always use the cell battery (MR-BAT) in combination with the dedicated case (MDS-BTCASE).
Maximum 8 (either 2, 4, 6 or 8) cell batteries can be installed to the dedicated case
(MDS-BTCASE).
Example) Rating nameplate
for battery units
Mitsubishi type
Safety class
Battery manufacturer type
Lithium metal content
A6 - 2

Appendix 6 Transportation Restrictions for Lithium Batteries
2. Handling by user
The following technical opinion is solely Mitsubishi's opinion. The shipper must confirm the latest
IATA Dangerous Goods Regulations, IMDG Codes and laws and orders of the corresponding
export country. These should be checked by the company commissioned for the actual
transportation.
IATA
IMDG Code
: International Air Transport Association
: A uniform international code for the transport of dangerous goods by seas
determined by IMO (International Maritime Organization).
(a) When shipping isolated lithium battery products (Packing Instruction 903)
1) Reshipping in Mitsubishi UN packaging
The isolated battery's safety test and packaging specifications comply with the UN Regulations
(Packing Instruction 903). Thus, the user only needs to add the following details before shipping.
(Consult with the shipping company for details.)
i) Indication of container usage mark on exterior box (Label with following details recorded.)
• Proper shipping name (Lithium batteries)
• UN NO. (UN3090 for isolated battery, UN3091 for battery incorporated in a device or included)
• Shipper and consignee's address and name
Example of completing form
Shipper information
Consignee information
ii) Preparation of shipping documents (Declaration of dangerous goods)
2) When packaged by user
The user must follow UN Regulations when packing, preparing for shipping and preparing the
indications, etc.
i) Packing a lithium battery falling under Class 9
• Consult with The Ship Equipment Inspection Society of Japan for details on packaging.
• Prepare for shipping as explained in "1) Reshipping in Mitsubishi UN packaging".
The Ship Equipment Inspection Society of Japan
Headquarters Telephone: 03-3261-6611 Fax: 03-3261-6979
ii) Packing a lithium battery not falling under Class 9
• Cells and batteries are separated so as to prevent short circuits and are stored in a strong outer
packaging. (12 or less batteries, 24 or less cells.)
• Certificates or test results showing compliance to battery safety test.
The safety test results have been obtained from the battery manufacturer. (Consult with
Mitsubishi when the safety test results are required.)
• Prepare for shipping as explained in "1) Reshipping in Mitsubishi UN packaging".
A6 - 3

Appendix 6 Transportation Restrictions for Lithium Batteries
(b) When shipping lithium batteries upon incorporating in a machinery or device
(Packing Instruction 900)
Pack and prepare for shipping the item in accordance with the Packing Instruction 900 specified in
the IATA DGR (Dangerous Goods Regulation) book. (Securely fix the batteries that comply with the
UN Manual of Tests and Criteria to a machinery or device, and protect in a way as to prevent
damage or short-circuit.)
Note that all the lithium batteries provided by Mitsubishi have cleared the UN recommended safety
test; fixing the battery units or cable wirings securely to the machinery or device will be the user’s
responsibility.
Check with your shipping company for details on packing and transportation.
(c) When shipping a device with lithium batteries incorporated (Packing Instruction 912)
A device incorporating lithium batteries does not require a dedicated packaging (UN packaging).
However, the item must be packed, prepared for shipping and labeled following the Packing
Instruction 912 specified in the IATA DGR (Dangerous Goods Regulation) book.
Check with your shipping company for details on packing and transportation.
The outline of the Packing Instruction 912 is as follows:
• All the items in the packing instructions for shipping the isolated lithium battery products
(Packing Instruction 903) must be satisfied, except for the items related to container,
short-circuit, and fixation.
• A device incorporating lithium batteries has to be stored in a strong water-proofed outer
packaging.
• To prevent an accidental movement during shipment, securely store the item in an outer
packaging.
• Lithium content per device should be not more than 12g for cell and 500g for battery.
• Lithium battery mass per device should be not more than 5kg.
3. Reference
Refer to the following materials for details on the regulations and responses.
Guidelines regarding transportation of lithium batteries and lithium ion batteries (Edition 2)
.......................................................... Battery Association of Japan
A6 - 4

Appendix 6 Transportation Restrictions for Lithium Batteries
Appendix 6-1-2 Issuing domestic law of the United State for primary lithium battery
transportation
Federal Aviation Administration (FAA) and Research and Special Programs Administration (RSPA)
announced an additional regulation (interim final rule) for the primary lithium batteries transportation
restrictions item in "Federal Register" on Dec.15 2004. This regulation became effective from Dec.29,
2004.
This law is a domestic law of the United States, however if also applies to the domestic flight and
international flight departing from or arriving in the United States. Therefore, when transporting lithium
batteries to the United State, or within the United State, the shipper must take measures required to
transport lithium batteries.
Refer to the Federal Register and the code of Federal Regulation ("(a), (b) and (c) in the item 4."
described below) for details.
1. Outline of regulation
(a) Transporting primary lithium battery by passenger aircraft is forbidden.
• Excluding primary lithium battery for personal use in a carry-on or checked luggage
(Lithium metal content should be not more than 5g for cell and 25g for battery. For details on the
lithium metal content, refer to "(a) and (b) in the section 4-1-1 item 1.".)
(b) When transporting primary lithium battery by cargo aircraft, indicate that transportation by
passenger aircraft is forbidden on the exterior box.
2. Target products
All NC products for which the lithium batteries are used are subject to the regulation.
(Refer to the table "(a) and (b) in the section 4-1-1 item 1.".)
3. Handling by user
The "1. Outline of regulation" described above is solely Mitsubishi's opinion. The shipper must
confirm orders of "(a), (b) and (c) in the item 4." described below for transportation method
corresponding the regulation. Actually, these should be checked by the company commissioned for
the actual lithium buttery transportation.
(a) Indication of exterior box
When transporting primary lithium battery by cargo aircraft, indicate that transportation by
passenger aircraft is forbidden on the exterior box.
Display example
PRIMARY LITHIUM BATTERIES
FORBIDDEN FOR TRANSPORT ABOARD PASSENGER AIRCRAFT.
• The character color must be displayed with contrast. (black characters against white background,
black characters against yellow background, etc.)
• The height (size) of characters to be displayed is prescribed depending on the packaging weight.
When the total weight is over 30kg: at least 12mm
When the total weight is less than 30kg: at least 6mm
4. Reference
(a) Federal Register (Docket No. RSPA-2004-19884 (HM-224E) ) PDF format
http://www.regulations.gov/fredpdfs/05-11765.pdf
(b) 49CFR (Code of Federal Regulation, Title49) (173.185 Lithium batteries and cells.)
http://www.access.gpo.gov/nara/cfr/waisidx_00/49cfr173_00.html
(c) DOT regulation body (Department of Transportation)
http://hazmat.dot.gov/regs/rules/final/69fr/docs/69fr-75207.pdf
A6 - 5

Appendix 7. Compliance with China Compulsory
Product Certification (CCC Certification)
System
Appendix 7-1 Outline of China Compulsory Product Certification System ............................................A7-2
Appendix 7-2 First Catalogue of Products subject to Compulsory Product Certification.......................A7-2
Appendix 7-3 Precautions for Shipping Products...................................................................................A7-3
Appendix 7-4 Application for Exemption ................................................................................................A7-4
Appendix 7-5 Mitsubishi NC Product Subject to/Not Subject to CCC Certification................................A7-5
A7 - 1

Appendix 7. Compliance with China Compulsory Product Certification (CCC Certification) System
Appendix 7-1 Outline of China Compulsory Product Certification System
The Safety Certification enforced in China included the "CCIB Certification (certification system based
on the "Law of the People’s Republic of China on Import and Export Commodity Inspection" and
"Regulations on Implementation of the Import Commodities Subject to the Safety and Quality Licensing
System" enforced by the State Administration of Import and Export Commodity Inspection (SACI) on
import/export commodities, and the "CCEE Certification" (certification system based on "Product
Quality Certification Management Ordinance" set forth by the China Commission for Conformity
Certification of Electrical Equipment (CCEE) on commodities distributed through China.
CCIB Certification and CCEE Certification were merged when China joined WTO (November 2001),
and were replaced by the "China Compulsory Product Certification" (hereinafter, CCC Certification)
monitored by the State General Administration of Quality Supervision, Inspection and Quarantine
(AQSIQ) of the People's Republic of China.
The CCC Certification system was partially enforced from May 2002, and was fully enforced from May
2003. Target commodities which do not have CCC Certification cannot be imported to China or sold in
China. (Indication of the CCIB or CCEE mark has been eliminated from May 1, 2003.)
CCIB : China Commodity Inspection Bureau
CCEE : China Commission for Conformity Certification of Electrical Equipment
CCC : China Compulsory Certification
Appendix 7-2 First Catalogue of Products subject to Compulsory Product
Certification
The First Catalogue of Products subject to Compulsory Product Certification, covering 132 items (19
categories) based on the CCIB products (104 items), CCEE products (107 items) and CEMC products
(Compulsory EMC Certification products) was designated on December 3, 2001.
Class Product catalogue Class Product catalogue
1 Electric Wires and Cables (5 items) 5 Electric tools (16 items)
2 Switches, Installation protective and connection devices (6 items) 6 Welding machines (15 items)
3
Low-voltage Electrical Apparatus (9 items)
Compulsory Certification
Regulations
A7 - 2
7 Household and similar
electrical appliances
(18 items)
Circuit-breakers (including RCCB, RCBO, MCB) 8 Audio and video equipment (16 items)
Low-voltage switchers
9 Information technology (12 items)
(disconnectors, switch-disconnectors, and
fuse-combination devices.
10
equipment
Lighting apparatus (2 items)
11 Telecommunication terminal (9 items)
equipment
Other protective equipment for circuits
12 Motor vehicles and Safety (4 items)
(Current limiting devices, circuits protective
Parts
devices, over current protective devices,
13 Tyres (4 items)
thermal protectors, over load relays,
14 Safety Glasses (3 items)
low-voltage electromechanical contactors and
motor starters) 15 Agricultural Machinery (1 item)
CNCA -01C -011: 2001
Relays (36V < Voltage ≤ 1000V) 16 Latex Products (1 item)
(Switch and Control
Equipment)
17 Medical Devices (7 items)
CNCA -01C -012: 2001 18 Fire Fighting Equipment (3 items)
(Installation Protective 19 Detectors for Intruder Alarm (1 item)
Equipment)
Systems
Other switches
(Switches for appliances, vacuum switches,
pressure switches, proximity switches, foot
switches, thermal sensitive switches, hydraulic
switches, push-button switches, position limit
switches, micro-gap switches, temperature
sensitive switches, travel switches,
change-over switches, auto-change-over
switches, knife switches)
Other devices
(contactors, motor starters, indicator lights,
auxiliary contact assemblies, master
controllers, A.C. Semiconductor motor
controllers and starters)
Earth leakage protectors
Fuses
Low-voltage switchgear
4 Small power motors (1 item)
(Note)
CNCA-01C-010:2001
(Low-voltage
switchgear)
CNCA-01C-013:2001
(Small power motors)
(Note) When the servomotor or the spindle motor of which output is 1.1kW or less (at 1500 r/min) is used,
NC could have been considered as a small power motor. However, CQC (China Quality
Certification Center) judged it is not.

Appendix 7. Compliance with China Compulsory Product Certification (CCC Certification) System
Appendix 7-3 Precautions for Shipping Products
As indicated in Appendix 7-2, NC products are not included in the First Catalogue of Products subject to
Compulsory Product Certification. However, the Customs Officer in China may judge that the product is
subject to CCC Certification just based on the HS Code. Note 2
NC cannot be imported if its HS code is used for the product subject to CCC Certification. Thus, the
importer must apply for a "Certification of Exemption" with CNCA. Note 3 Refer to Appendix 7-4.
Application for Exemption for details on applying for an exemption.
(Note 1) The First Catalogue of Products subject to Compulsory Product Certification (Target HS
Codes) can be confirmed at http://www.cqc.com.cn/Center/html/60gonggao.htm.
(Note 2) HS Code: Internationally unified code (up to 6 digits) assigned to each product and used for
customs.
(Note 3) CNCA: Certification and Accreditation Administration of People's Republic of China
(Management and monitoring of certification duties)
A7 - 3

Appendix 7. Compliance with China Compulsory Product Certification (CCC Certification) System
Appendix 7-4 Application for Exemption
Following "Announcement 8" issued by the Certification and Accreditation Administration of the
People's Republic of China (CNCA) in May 2002, a range of products for which application for CCC
Certification is not required or which are exempt from CCC marking has been approved for special
circumstances in production, export and management activities.
An application must be submitted together with materials which prove that the corresponding product
complies with the exemption conditions. Upon approval, a "Certification of Exemption" shall be issued.
Range of products not
requiring application
Range of products for
which application is
exempted
(a) Items brought into China for the personal use by the foreign embassies, consulates, business
agencies and visitors
(Excluding products purchased from Service Company for Exporters)
(b) Products presented on a government-to-government basis, presents
(c) Exhibition products (products not for sale)
(d) Special purpose products (e.g., for military use)
Products not requiring application for CCC Certification are not required to be CCC marked or
certified.
(e) Products imported or manufactured for research and development and testing purposes
(f) Products shipped into China for integration into other equipment destined for 100% re-export to a
destination outside of China
(g) Products for 100% export according to a foreign trade contract (Excluding when selling partially in
China or re-importing into China for sales)
(h) Components used for the evaluation of an imported product line
(i) The products imported or manufactured for the service (service and repairs) to the end-user. Or the
spare parts for the service (service and repairs) of discontinued products.
(j) Products imported or manufactured for research and development, testing or measurements
(k) Other special situations
The following documents must be prepared to apply for an exemption of the "Import Commodity Safety
and Quality License" and "CCC Certification".
(1) Formal Application
(a) Relevant introduction and description of the company.
(b) The characteristics of the products to be exempted.
(c) The reason for exemption and its evidence (ex. customs handbook).
(d) The name, trademark, quantity, model and specification of the products to be exempted.
(Attach a detail listing of these items for a large quantity of products. When importing materials
for processing and repair equipments, submit a list of the importing materials for each month
and repair equipments.)
(e) Guarantee for the safety of the products; self-declaration to be responsible for the safety during
the manufacturing and use.
(f) To be responsible for the authenticity and legitimacy of the submitted documents. Commitment
to assist CNCA to investigate on the authenticity of the documents (When CNCA finds it
necessary to investigate on the authenticity of the documents.)
(2) Business license of the company (Copy)
(3) Product compliance declaration
Indicate which standard’s requirements the products comply with or submit a test report (Copy is
acceptable. The report can be prepared in a manufacturer’s laboratory either at home or overseas.)
(4) Import license (Only if an import license is needed for this product. Copy is acceptable.)
(5) Quota certificate (Only if a quota certificate is needed for this product. Copy is acceptable.)
(6) Commercial contract (Copy is acceptable.)
(7) If one of item (4), (5) or (6) cannot be provided, alternative documents, such as bill of lading, the
invoice, and other evidential documents must be submitted.
A7 - 4

Appendix 7. Compliance with China Compulsory Product Certification (CCC Certification) System
Appendix 7-5 Mitsubishi NC Product Subject to/Not Subject to CCC Certification
The state whether or not Mitsubishi NC products are subject to the CCC Certification is indicated below,
based on the "First Catalogue of Products subject to Compulsory Product Certification" issued by the
State General Administration of Quality Supervision, Inspection and Quarantine (AQSIQ) of the
People's Republic of China and the Certification and Accreditation Administration of the People's
Republic of China (CNCA) on July 1, 2002.
Power supply unit
Servo/spindle drive unit
Servo/spindle
Model China HS Code (Note 1)
85044090
85371010
85015100
85015200
Judgment on whether or not subject to
CCC Certification
Not subject to CCC Certification
Not subject to CCC Certification
NC – Not subject to CCC Certification
Display unit – Not subject to CCC Certification
(Note 1) The China HS Code is determined by the customs officer when importing to China. The
above HS Codes are set based on the HS Codes used normally when exporting from Japan.
(Note 2) Reference IEC Standards are used as the actual IEC Standards may not match the GB
Standards in part depending on the model.
Whether or not the NC products are subject to CCC Certification was judged based on the following five
items.
(a) Announcement 33 (Issued by AQSIQ and CNCA in December 2001)
(b) HS Codes for the products subject to CCC Certification (Export Customs Codes)
* HS Codes are supplementary materials used to determine the applicable range. The applicable
range may not be determined only by these HS Codes.
(c) GB Standards (This is based on the IEC Conformity, so check the IEC. Note that some parts are
deviated.)
(d) Enforcement regulations, and products specified in applicable range of applicable standards within
(e) "Products Excluded from Compulsory Certification Catalogue" (Issued by CNCA, November 2003)
Reference
• Outline of China's New Certification System (CCC Mark for Electric Products), Japan Electrical
Manufacturers' Association
• Outline of China's New Certification System (CCC Mark for Electric Products) and Electric
Control Equipment, Nippon Electric Control Equipment Industries Association
A7 - 5

Revision History
Date of revision Manual No. Revision details
Mar. 2002 BNP-C3016A First edition created.
Jul. 2003 BNP-C3016C • The MDS-CH-V1-185 specifications were added.
• Battery unit "FCU6-BTBOX" was added.
• Spindle specifications were added.
•"Magnetic pole detection unit" was added.
• The HC-H1502 motor specifications were added.
• The linear servomotor specifications were added.
• "UL/c-UL Standard Compatible Unit Instruction Manual" was added.
• Miswrite is corrected.
Apr. 2004 BNP-C3016D • LM491M (Heidenhain) was added to machine side detector.
• Units scheduled for development, SP-15, V1-05, V1-10 and V2-0505 to 1010
were produced, and production of SP-04 to 075 and SP-22 was
discontinued.
• HC-H52, -H53 and -H102 were produced.
• Miswrite is corrected.
Sep. 2005 BNP-C3016E • DC connection bar specifications were added.
• Drive unit specifications list was revised.
• Selection of wire was revised.
• Protection fuse specifications were added.
• Motor outline drawings of HC-H1102 and HC-C1103S were revised.
• The section of "Compliance with China Compulsory Product Certification
(CCC Certification) System " was added.
• Miswrite is corrected.
Feb. 2006 BNP-C3016F • Servo parameters SV081 to SV100 were added.
• Alarm "3B" and "77" were revised.
• Troubleshooting "3B" and "77" were revised.
• Calculating the theoretical acceleration/deceleration was revised.
• Magnetic brake characteristic was revised.
• Miswrite is corrected.

Global service network
NORTH AMERICA FA Center
EUROPEAN FA Center
CHINA FA Center
KOREAN FA Center
ASEAN FA Center
HONG KONG FA Center
TAIWAN FA Center
North America FA Center (MITSUBISHI ELECTRIC AUTOMATION INC.)
Illinois CNC Service Center
500 CORPORATE WOODS PARKWAY, VERNON HILLS, IL. 60061, U.S.A.
TEL: +1-847-478-2500 (Se
FAX: +1-847-478-2650 (Se
California CNC Service Center
5665 PLAZA DRIVE, CYPRESS, CA. 90630, U.S.A.
TEL: +1-714-220-4796 FAX: +1-714-229-3818
Georgia CNC Service Center
2810 PREMIERE PARKWAY SUITE 400, DULUTH, GA., 30097, U.S.A.
TEL: +1-678-258-4500 FAX: +1-678-258-4519
New Jersey CNC Service Center
200 COTTONTAIL LANE SOMERSET, NJ. 08873, U.S.A.
TEL: +1-732-560-4500 FAX: +1-732-560-4531
Michigan CNC Service Satellite
2545 38TH STREET, ALLEGAN, MI., 49010, U.S.A.
TEL: +1-847-478-2500 FAX: +1-269-673-4092
Ohio CNC Service Satellite
62 W. 500 S., ANDERSON, IN., 46013, U.S.A.
TEL: +1-847-478-2608 FAX: +1-847-478-2690
Texas CNC Service Satellite
1000, NOLEN DRIVE SUITE 200, GRAPEVINE, TX. 76051, U.S.A.
TEL: +1-817-251-7468 FAX: +1-817-416-1439
Canada CNC Service Center
4299 14TH AVENUE MARKHAM, ON. L3R OJ2, CANADA
TEL: +1-905-475-7728 FAX: +1-905-475-7935
Mexico CNC Service Center
MARIANO ESCOBEDO 69 TLALNEPANTLA, 54030 EDO. DE MEXICO
TEL: +52-55-9171-7662 FAX: +52-55-9171-7698
Monterrey CNC Service Satellite
ARGENTINA 3900, FRACC. LAS TORRES, MONTERREY, N.L., 64720, MEXICO
TEL: +52-81-8365-4171 FAX: +52-81-8365-4171
Brazil MITSUBISHI CNC Agent Service Center
(AUTOMOTION IND. COM. IMP. E EXP. LTDA.)
ACESSO JOSE SARTORELLI, KM 2.1 18550-000 BOITUVA – SP, BRAZIL
TEL: +55-15-3363-9900 FAX: +55-15-3363-9911
European FA Center (MITSUBISHI ELECTRIC EUROPE B.V.)
Germany CNC Service Center
GOTHAER STRASSE 8, 40880 RATINGEN, GERMANY
TEL: +49-2102-486-0
FAX:+49-2102486-591
South Germany CNC Service Center
KURZE STRASSE. 40, 70794 FILDERSTADT-BONLANDEN, GERMANY
TEL: +49-711-3270-010 FAX: +49-711-3270-0141
France CNC Service Center
25, BOULEVARD DES BOUVETS, 92741 NANTERRE CEDEX FRANCE
TEL: +33-1-41-02-83-13 FAX: +33-1-49-01-07-25
Lyon CNC Service Satellite
U.K CNC Service Center
TRAVELLERS LANE, HATFIELD, HERTFORDSHIRE, AL10 8XB, U.K.
TEL: +44-1707-282-846
FAX:-44-1707-278-992
Italy CNC Service Center
ZONA INDUSTRIALE VIA ARCHIMEDE 35 20041 AGRATE BRIANZA, MILANO ITALY
TEL: +39-039-60531-342 FAX: +39-039-6053-206
Spain CNC Service Satellite
CTRA. DE RUBI, 76-80 -APDO.420 08190 SAINT CUGAT DEL VALLES, BARCELONA SPAIN
TEL: +34-935-65-2236
FAX:
Turkey MITSUBISHI CNC Agent Service Center
(GENEL TEKNIK SISTEMLER LTD. STI.)
DARULACEZE CAD. FAMAS IS MERKEZI A BLOCK NO.43 KAT2 80270 OKMEYDANI ISTANBUL,
TURKEY
TEL: +90-212-320-1640 FAX: +90-212-320-1649
Poland MITSUBISHI CNC Agent Service Center (MPL Technology Sp. z. o. o)
UL SLICZNA 34, 31-444 KRAKOW, POLAND
TEL: +48-12-632-28-85
FAX:
Wroclaw MITSUBISHI CNC Agent Service Satellite (MPL Technology Sp. z. o. o)
UL KOBIERZYCKA 23, 52-315 WROCLAW, POLAND
TEL: +48-71-333-77-53 FAX: +48-71-333-77-53
Czech MITSUBISHI CNC Agent Service Center
(AUTOCONT CONTROL SYSTEM S.R.O. )
NEMOCNICNI 12, 702 00 OSTRAVA 2 CZECH REPUBLIC
TEL: +420-596-152-426 FAX: +420-596-152-112
ASEAN FA Center (MITSUBISHI ELECTRIC ASIA PTE. LTD.)
Singapore CNC Service Center
307 ALEXANDRA ROAD #05-01/02 MITSUBISHI ELECTRIC BUILDING SINGAPORE 159943
TEL: +65-6473-2308 FAX: +65-6476-7439
Thailand MITSUBISHI CNC Agent Service Center (F. A. TECH CO., LTD)
898/19,20,21,22 S.V. CITY BUILDING OFFICE TOWER 1 FLOOR 12,14 RAMA III RD BANGPONGPANG,
YANNAWA, BANGKOK 10120. THAILAND
TEL: +66-2-682-6522 FAX: +66-2-682-6020
Malaysia MITSUBISHI CNC Agent Service Center
(FLEXIBLE AUTOMATION SYSTEM SDN. BHD.)
60, JALAN USJ 10/1B 47620 UEP SUBANG JAYA SELANGOR DARUL EHSAN MALAYSIA
TEL: +60-3-5631-7605 FAX: +60-3-5631-7636
JOHOR MITSUBISHI CNC Agent Service Satellite
(FLEXIBLE AUTOMATION SYSTEM SDN. BHD.)
NO. 16, JALAN SHAHBANDAR 1, TAMAN UNGKU TUN AMINAH, 81300 SKUDAI, JOHOR MALAYSIA
TEL: +60-7-557-8218 FAX: +60-7-557-3404
Indonesia MITSUBISHI CNC Agent Service Center
(PT. AUTOTEKNINDO SUMBER MAKMUR)
WISMA NUSANTARA 14TH FLOOR JL. M.H. THAMRIN 59, JAKARTA 10350 INDONESIA
TEL: +62-21-3917-144 FAX: +62-21-3917-164
India MITSUBISHI CNC Agent Service Center (MESSUNG SALES & SERVICES PVT. LTD.)
B-36FF, PAVANA INDUSTRIAL PREMISES M.I.D.C., BHOASRI PUNE 411026, INDIA
TEL: +91-20-2711-9484 FAX: +91-20-2712-8115
BANGALORE MITSUBISHI CNC Agent Service Satellite
(MESSUNG SALES & SERVICES PVT. LTD.)
S 615, 6TH FLOOR, MANIPAL CENTER, BANGALORE 560001, INDIA
TEL: +91-80-509-2119 FAX: +91-80-532-0480
Delhi MITSUBISHI CNC Agent Parts Center (MESSUNG SALES & SERVICES PVT. LTD.)
1197, SECTOR 15 PART-2, OFF DELHI-JAIPUR HIGHWAY BEHIND 32ND MILESTONE GURGAON
122001, INDIA
TEL: +91-98-1024-8895
FAX:
Philippines MITSUBISHI CNC Agent Service Center
(FLEXIBLE AUTOMATION SYSTEM CORPORATION)
UNIT No.411, ALABAMG CORPORATE CENTER KM 25. WEST SERVICE ROAD SOUTH SUPERHIGHWAY,
ALABAMG MUNTINLUPA METRO MANILA, PHILIPPINES 1771
TEL: +63-2-807-2416 FAX: +63-2-807-2417
Vietnam MITSUBISHI CNC Agent Service Center (SA GIANG TECHNO CO., LTD)
47-49 HOANG SA ST. DAKAO WARD, DIST.1 HO CHI MINH CITY, VIETNAM
TEL: +84-8-910-4763 FAX: +84-8-910-2593
China FA Center (MITSUBISHI ELECTRIC AUTOMATION (SHANGHAI) LTD.)
China CNC Service Center
2/F., BLOCK 5 BLDG.AUTOMATION INSTRUMENTATION PLAZA, 103 CAOBAO RD. SHANGHAI 200233,
CHINA
TEL: +86-21-6120-0808 FAX: +86-21-6494-0178
Shenyang CNC Service Center
TEL: +86-24-2397-0184 FAX: +86-24-2397-0185
Beijing CNC Service Satellite
9/F, OFFICE TOWER1, HENDERSON CENTER, 18 JIANGUOMENNEI DAJIE, DONGCHENG DISTRICT,
BEIJING 100005, CHINA
TEL: +86-10-6518-8830 FAX: +86-10-6518-8030
China MITSUBISHI CNC Agent Service Center
(BEIJING JIAYOU HIGHTECH TECHNOLOGY DEVELOPMENT CO.)
RM 709, HIGH TECHNOLOGY BUILDING NO.229 NORTH SI HUAN ZHONG ROAD, HAIDIAN DISTRICT ,
BEIJING 100083, CHINA
TEL: +86-10-8288-3030 FAX: +86-10-6518-8030
Tianjin CNC Service Satellite
RM909, TAIHONG TOWER, NO220 SHIZILIN STREET, HEBEI DISTRICT, TIANJIN, CHINA 300143
TEL: -86-22-2653-9090 FAX: +86-22-2635-9050
Shenzhen CNC Service Satellite
RM02, UNIT A, 13/F, TIANAN NATIONAL TOWER, RENMING SOUTH ROAD, SHENZHEN, CHINA 518005
TEL: +86-755-2515-6691 FAX: +86-755-8218-4776
Changchun Service Satellite
TEL: +86-431-50214546 FAX: +86-431-5021690
Hong Kong CNC Service Center
UNIT A, 25/F RYODEN INDUSTRIAL CENTRE, 26-38 TA CHUEN PING STREET, KWAI CHUNG, NEW
TERRITORIES, HONG KONG
TEL: +852-2619-8588 FAX: +852-2784-1323
Taiwan FA Center (MITSUBISHI ELECTRIC TAIWAN CO., LTD.)
Taichung CNC Service Center
NO.8-1, GONG YEH 16TH RD., TAICHUNG INDUSTIAL PARK TAICHUNG CITY, TAIWAN R.O.C.
TEL: +886-4-2359-0688 FAX: +886-4-2359-0689
Taipei CNC Service Satellite
TEL: +886-4-2359-0688 FAX: +886-4-2359-0689
Tainan CNC Service Satellite
TEL: +886-4-2359-0688 FAX: +886-4-2359-0689
Korean FA Center (MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD.)
Korea CNC Service Center
DONGSEO GAME CHANNEL BLDG. 2F. 660-11, DEUNGCHON-DONG KANGSEO-KU SEOUL, 157-030
KOREA
TEL: +82-2-3660-9607 FAX: +82-2-3663-0475

Notice
Every effort has been made to keep up with software and hardware revisions in the
contents described in this manual. However, please understand that in some
unavoidable cases simultaneous revision is not possible.
Please contact your Mitsubishi Electric dealer with any questions or comments
regarding the use of this product.
Duplication Prohibited
This instruction manual may not be reproduced in any form, in part or in whole, without
written permission from Mitsubishi Electric Corporation.
© 2003-2006 MITSUBISHI ELECTRIC CORPORATION
ALL RIGHTS RESERVED